EP1681447A1 - Dispositif servant a reguler la quantite d'air d'admission dans un moteur a combustion interne - Google Patents

Dispositif servant a reguler la quantite d'air d'admission dans un moteur a combustion interne Download PDF

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Publication number
EP1681447A1
EP1681447A1 EP04792306A EP04792306A EP1681447A1 EP 1681447 A1 EP1681447 A1 EP 1681447A1 EP 04792306 A EP04792306 A EP 04792306A EP 04792306 A EP04792306 A EP 04792306A EP 1681447 A1 EP1681447 A1 EP 1681447A1
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EP
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Prior art keywords
control
value
intake air
valve lift
air amount
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EP04792306A
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German (de)
English (en)
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EP1681447A4 (fr
EP1681447B1 (fr
Inventor
Yuji c/o K. K. Honda Gijutsu Kenkyusho Yasui
Noriaki c/o K. K. Honda Gijutsu Kenkyusho FUJII
Hisao c/o K. K. Honda Gijutsu Kenkyusho SAKAI
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D13/00—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing
    • F02D13/02—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing during engine operation
    • F02D13/0223—Variable control of the intake valves only
    • F02D13/0226—Variable control of the intake valves only changing valve lift or valve lift and timing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/34—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/34—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift
    • F01L1/344—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear
    • F01L1/352—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear using bevel or epicyclic gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L13/00—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations
    • F01L13/0015—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque
    • F01L13/0063—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque by modification of cam contact point by displacing an intermediate lever or wedge-shaped intermediate element, e.g. Tourtelot
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D41/1403—Sliding mode control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/12—Transmitting gear between valve drive and valve
    • F01L1/18—Rocking arms or levers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/12—Transmitting gear between valve drive and valve
    • F01L1/18—Rocking arms or levers
    • F01L1/185—Overhead end-pivot rocking arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2305/00—Valve arrangements comprising rollers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2800/00—Methods of operation using a variable valve timing mechanism
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2820/00—Details on specific features characterising valve gear arrangements
    • F01L2820/02—Formulas
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2820/00—Details on specific features characterising valve gear arrangements
    • F01L2820/03—Auxiliary actuators
    • F01L2820/032—Electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D13/00—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing
    • F02D13/02—Controlling the engine output power by varying inlet or exhaust valve operating characteristics, e.g. timing during engine operation
    • F02D13/0223—Variable control of the intake valves only
    • F02D13/0234—Variable control of the intake valves only changing the valve timing only
    • F02D13/0238—Variable control of the intake valves only changing the valve timing only by shifting the phase, i.e. the opening periods of the valves are constant
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F02D2041/001—Controlling intake air for engines with variable valve actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/1415—Controller structures or design using a state feedback or a state space representation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/1418—Several control loops, either as alternatives or simultaneous
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/12—Improving ICE efficiencies
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Definitions

  • the present invention relates to an intake air amount control system for an internal combustion engine, for controlling an intake air amount by variably controlling both the valve lift and the cam phase, that is, the valve timing, of intake valves.
  • Patent Literature 1 As an intake air amount control system for an internal combustion engine, provided for controlling an intake air amount, one described in Patent Literature 1 is known.
  • This engine includes a variable valve lift mechanism and a variable cam phase mechanism, and the valve lift of intake valves is changed by the variable valve lift mechanism, and the cam phase of an intake cam shaft relative to a crankshaft is changed by the variable cam phase mechanism, whereby the valve timing of the intake valve is varied.
  • the cam phase and the valve lift of each intake valve are both variably controlled by the variable cam phase mechanism and the variable valve lift mechanism, whereby the intake air amount is controlled. More specifically, a target valve lift, which is a target value of the valve lift, and a target cam phase, which is a target value of the cam phase, are set according to load on the engine and the like, and feedback control is carried out based on the target values. Further, the target cam phase or the target valve lift is corrected so as to avoid interaction between the intake valve and a piston.
  • the difference between a valve lift detected by a sensor and the target valve lift is compared with a predetermined threshold value, and when the difference is equal to or larger than the threshold value, the target cam phase is corrected such that it is more retarded (example shown in FIG. 10 in Patent Literature 1).
  • Patent Literature 1 Japanese Laid-Open Patent Publication (Kokai) No. 2002-332876
  • variable valve lift mechanism and the variable cam phase mechanism are both driven for control of the intake air amount, as in the above conventional intake air amount control system, that is, when both valve lift control and cam phase control are executed for control of the intake air amount, the valve lift control and the cam phase control interact with each other due to the differences between the dynamic characteristics of the two variable mechanisms, which can result in the degraded control accuracy and response of the intake air amount control. More specifically, when the valve lift is controlled by the variable valve lift mechanism, the intake air amount can be changed more quickly than when the cam phase is controlled by the variable cam phase mechanism, whereby it is possible secure high responsiveness of the intake air amount control.
  • the intake air amount can be more finely controlled by a smaller amount of change, whereby it is possible to secure higher control accuracy.
  • the valve lift control and the cam phase control are different in control characteristics of the intake air amount, so that when they interact with each other, it is impossible to properly control the intake air amount.
  • the intake air amount cannot be finely controlled by the valve lift control, and hence when the valve lift control interacts with the cam phase control, control accuracy is degraded by the adverse influence of the interaction.
  • the present invention has been made to provide a solution to the above-described problems, and an object thereof is to provide an intake air amount control system for an internal combustion engine, which controls the amount of intake air by executing both cam phase control and valve lift control, and is capable of enhancing response and accuracy of the intake air amount control, while avoiding interaction between the cam phase control and the valve lift control.
  • the invention as claimed in claim 1 provides an intake air amount control system 1 for an internal combustion engine 3, which variably controls a cam phase Cain of an intake cam shaft 5 for opening and closing an intake valve 4, relative to a crankshaft 3b by a variable cam phase mechanism 70, and variably controls a valve lift Liftin of the intake valve 4 by a variable valve lift mechanism 50, to thereby control an amount of intake air drawn into a cylinder of the engine 3, comprising target intake air amount-setting means (ECU 2, target intake air amount-calculating section 90, steps 20 and 21) for setting a target intake air amount Gcyl_cmd to which the amount of intake air is to be controlled, according to a load parameter (engine speed NE, accelerator pedal opening AP) indicative of load on the engine 3, intake air amount-detecting means (ECU 2, air flow sensor 22, intake pipe absolute pressure sensor 23) for detecting the amount of intake air (intake air amount, actual intake air amount Gcyl), first control value-calculating means (ECU 2, first and second ACTASS controllers
  • the target intake air amount to which the amount of intake air is to be controlled is set according to a load parameter indicative of load on the engine; the first control value for controlling one of a cam phase and a valve lift is calculated such that the detected intake air amount converges to the target intake air amount, and the second control value for controlling the other of the cam phase and the valve lift is calculated based on the first control value.
  • the second control value is calculated based on the first control value for causing the intake air amount to converge to the target intake air amount, and therefore it is possible to calculate the second control value as a value which does not obstruct the convergence of the intake air amount to the target intake air amount by the first control value.
  • the invention as claimed in claim 2 is an intake air amount control system 1 as claimed in claim 1, wherein the first control value includes a feedback control value (master value Liftin_cmd_ms, Cain_cmd_ms) for causing the intake air amount to converge to the target intake air amount, and wherein the first control value-calculating means calculates the feedback control value with a two-degree-of-freedom control algorithm [equations (2) to (7), (10) to (14), (16) to (21), (24) to (28)].
  • a feedback control value master value Liftin_cmd_ms, Cain_cmd_ms
  • the feedback control value included in the first control value is calculated with a two-degree-of-freedom control algorithm, so that e.g. when a target value filter-type two-degree-of-freedom control algorithm is used as the two-degree-of-freedom control algorithm, it is possible to properly set the convergence rate of the intake air amount to the target intake air amount with a target value filter algorithm, and properly set the convergence behavior of the intake air amount to the target intake air amount with a feedback control algorithm.
  • the invention as claimed in claim 3 is an intake air amount control system 1 as claimed in claim 1 or 2, further comprising control input-calculating means (ECU 2, valve lift controller 120, cam phase controller 220, steps 2 and 3) for calculating a control input (phase control input Ucain, lift control input Uliftin) to one of the variable cam phase mechanism 70 and the variable valve lift mechanism 50 according to the first control value (target valve lift Liftin_cmd, target cam phase Cain_cmd), and calculating a control input (phase control input Ucain, lift control input Uliftin) to the other of the variable cam phase mechanism 70 and the variable valve lift mechanism 50 according to the second control value, and wherein a calculation period (control period ⁇ T1) at which the first control value-calculating means and the second control value-calculating means calculate is set to be longer than a calculation period (control period ⁇ T2) at which the control input-calculating means calculates.
  • control input-calculating means ECU 2, valve lift controller 120, cam phase controller 220, steps 2 and 3 for calculating a control input (
  • a control input to one of the variable cam phase mechanism and the variable valve lift mechanism is calculated according to the first control value
  • a control input to the other of the variable cam phase mechanism and the variable valve lift mechanism is calculated according to the second control value
  • the calculation period at which the first control value-calculating means and the second control value-calculating means calculate is set to be longer than the calculation period at which the control input-calculating means calculates.
  • the response speed of the intake air amount is made relatively slower due to the response speeds of the variable mechanisms, and hence the calculation period at which the first and second control value-calculating means calculate is properly set such that it is coincident with the above response speeds, whereby it is possible to accurately control a transitional change in the intake air amount. Further, since the calculation period at which the control input-calculating means calculates is shorter than the calculation period at which the first and second control value-calculating means calculate, the control inputs to the variable cam phase mechanism and the variable valve lift mechanism can be calculated more quickly than the first and second control values.
  • the invention as claimed in claim 4 provides an intake air amount control system 1 for an internal combustion engine 3, which variably controls a cam phase Cain of an intake cam shaft 5 for opening and closing an intake valve 4, relative to a crankshaft 3b by a variable cam phase mechanism 70, and variably controls a valve lift Liftin of the intake valve 4 by a variable valve lift mechanism 50, to thereby control an amount of intake air drawn into a cylinder of the engine 3, comprising target intake air amount-setting means (ECU 2, target intake air amount-calculating section 90, steps 20 and 21) for setting a target intake air amount Gcyl_cmd to which the amount of intake air is to be controlled, according to a first load parameter (engine speed NE, accelerator pedal opening AP) indicative of load on the engine, intake air amount-detecting means (ECU 2, air flow sensor 22, intake pipe absolute pressure sensor 23) for detecting the amount of intake air (intake air amount, actual intake air amount Gcyl), first control means (ECU 2, first ACTASS controller 100, first slave value
  • the target intake air amount-setting means sets the target intake air amount to which the amount of intake air is to be controlled, according to the first load parameter indicative of the load on the engine. Further, the first control means controls the valve lift such that the detected intake air amount converges to the target intake air amount, while controlling the cam phase with the predetermined first control algorithm so as to assist the valve lift control.
  • the first control means controls the intake air amount mainly by the valve lift control, and uses the cam phase control for assisting the valve lift control, which makes it possible to avoid interaction between the cam phase control and the valve lift control.
  • the second control means controls the cam phase such that the detected intake air amount converges to the target intake air amount, while controlling the valve lift with the predetermined second control algorithm so as to assist the cam phase control.
  • the second control means controls the intake air amount mainly by the cam phase control, and uses the valve lift control for assisting the cam phase control, which makes it possible to avoid interaction between the cam phase control and the valve lift control.
  • the control selection means selects one of the first control means and the second control means according to the second load parameter indicative of the load on the engine, and causes control to be executed by the selected one of the first control means and the second control means.
  • the cam phase control makes it possible to finely control the intake air amount by a very small amount of change while avoiding interaction between the cam phase control and the valve lift control, thereby making it possible to enhance the accuracy of the control.
  • the valve lift control makes it possible to reduce dead time in the intake air amount control while avoiding interaction between the cam phase control and the valve lift control, thereby making it possible to enhance the response of the control.
  • the invention as claimed in claim 5 is an intake air amount control system 1 as claimed in claim 4, wherein the predetermined first control algorithm for the first control means is an algorithm (steps 60 and 64) which controls the cam phase Cain according to a state of control of the valve lift (target valve lift Liftin_cmd), and wherein the predetermined second control algorithm for the second control means is an algorithm (steps 51, 52, and 56) which controls the valve lift Liftin according to a state of control of the cam phase (target cam phase Cain_cmd).
  • the predetermined first control algorithm for the first control means is an algorithm (steps 60 and 64) which controls the cam phase Cain according to a state of control of the valve lift (target valve lift Liftin_cmd)
  • the predetermined second control algorithm for the second control means is an algorithm (steps 51, 52, and 56) which controls the valve lift Liftin according to a state of control of the cam phase (target cam phase Cain_cmd).
  • the first control means controls the cam phase according to a state of control of the valve lift
  • the second control means controls the valve lift according to a state of control of the cam phase, it is possible to control the valve lift such that the valve lift does not obstruct the convergence of the intake air amount to the target intake air amount by the cam phase control, thereby making it possible to reliably enhance the accuracy of the intake air amount control.
  • the invention as claimed in claim 6 is an intake air amount control system 1 as claimed in claim 4 or 5, wherein the control selection means selects the second control means (step 35) when the load on the engine 3 indicated by the second load parameter is in a predetermined first load region (if the answer to the question of the step 34 is negative (NO) or if the answer to the question of the step 39 is affirmative (YES)), and selects the first control means (step 36) when the load on the engine 3 indicated by the second load parameter is in a predetermined second load region higher than the predetermined first load region (if the answer to the question of the step 34 is affirmative (YES) or if the answer to the question of the step 39 is negative (NO)).
  • the control selection means selects the second control means when the load on the engine is in the predetermined first load region, and selects the first control means when the load on the engine is in the predetermined second load region higher than the predetermined first load region. Therefore, during the intake air amount control, in a low-load region requiring high control accuracy, it is possible to properly secure the control accuracy, and in a high-load region requiring high responsiveness of the intake air amount control, it is possible to properly secure the responsiveness.
  • the invention as claimed in claim 7 is an intake air amount control system 1 as claimed in claim 6, wherein the control selection means comprises acceleration determining means (ECU 2, step 31) for determining whether or not the engine 3 is in an accelerating state, load region-determining means (ECU 2, steps 34 to 36) for determining that the load on the engine 3 is in the predetermined second load region when the second load parameter (target cam phase Cain_cmd) is smaller than a predetermined threshold value Cain_mssw_lmt, while determining that the load on the engine 3 is in the predetermined first load region when the second load parameter is not smaller than the predetermined threshold value, and threshold value-setting means (step 32) for setting the predetermined threshold value Cain_mssw_lmt to a larger value (predetermined acceleration value Cain_mssw1) when the engine 3 is determined to be in an accelerating state by the acceleration determining means (if the answer to the question of the step 31 is affirmative (YES)), than otherwise.
  • the control selection means comprises acceleration determining means
  • the acceleration determining means determines whether or not the engine is in an accelerating state; the load region-determining means determines that the load on the engine is in the predetermined second load region when the second load parameter is smaller than the predetermined threshold value, and determines that the load on the engine is in the predetermined first load region when the second load parameter is not smaller than the predetermined threshold value; and the threshold value-setting means sets the predetermined threshold value to a larger value when the engine is determined to be in the accelerating state by the acceleration determining means, than otherwise.
  • the load region where the load on the engine is determined to be in the predetermined second load region is expanded. This makes it easier to select the first control means, whereby it is possible to quickly and properly secure high responsiveness of the intake air amount control.
  • the invention as claimed in claim 8 is an intake air amount control system 1 as claimed in claim 6, wherein the control selection means comprises acceleration determining means (ECU 2, step 50) for determining whether or not the engine 3 is in an accelerating state, second load parameter-setting means (ECU 2, step 51) for setting the second load parameter (target valve lift Liftin_cmd) to a larger value when the engine 3 is determined to be in the accelerating state by the acceleration determining means (if the answer to the question of the step 50 is affirmative (YES)), than otherwise, and load region-determining means (ECU 2, steps 35, 36, and 39) for determining that the load on the engine 3 is in the predetermined first load region when the set second load parameter (target valve lift Liftin_cmd) is not larger than a predetermined threshold value Liftin_mssw, while determining that the load on the engine 3 is in the predetermined second load region when the second load parameter is larger than the predetermined threshold value Liftin_mssw.
  • the control selection means comprises acceleration determining means (ECU
  • the acceleration determining means determines whether or not the engine is in an accelerating state, and the second load parameter-setting means sets the second load parameter to a larger value when the engine is determined to be in the accelerating state by the acceleration determining means, than otherwise.
  • the load region-determining means determines that the load on the engine is in the predetermined second load region when the second load parameter is larger than a predetermined threshold value, and determines that the load on the engine is in the predetermined first load region when the second load parameter is not larger than the predetermined threshold value.
  • each of the first control means and the second control means comprises cam phase control value-calculating means (ECU 2, step 38) for calculating a cam phase control value (target cam phase Cain_cmd) for use in controlling the cam phase Cain, and valve lift control value-calculating means (ECU 2, step 37) for calculating a valve lift control value (target valve lift Liftin_cmd) for use in controlling the valve lift Liftin, wherein the cam phase control value-calculating means calculates the cam phase control value (target cam phase Cain_cmd) as a sum of a cam phase feedback control value (master value Cain_cmd_ms of target cam phase) for causing the intake air amount to converge to the target intake air amount, and a cam phase-setting value (slave value Cain_cmd_sl of target cam phase) set according to the valve lift control value, wherein the valve lift control value-calculating means calculates the valve lift control value (ECU 2, step 38) for calculating a cam phase control value (target cam phase Cain_cmd)
  • a cam phase control value for use in controlling the cam phase is calculated as the sum of a cam phase feedback control value for causing the intake air amount to converge to the target intake air amount, and a cam phase-setting value set according to the valve lift control value
  • a valve lift control value for use in controlling the valve lift is calculated as the sum of a valve lift feedback control value for causing the intake air amount to converge to the target intake air amount, and a valve lift-setting value set according to the cam phase control value.
  • the cam phase feedback control value is calculated as a value of 0 when the first control means is selected by the control selection means
  • the valve lift feedback control value is calculated as a value of 0 when the second control means is selected by the control selection means.
  • the cam phase feedback control value before the switching has been calculated as a value of 0, so that the cam phase feedback control value after the switching is calculated with a value of 0 as an initial value thereof, whereby it is possible to avoid a sudden change in the cam phase control value.
  • the valve lift feedback control value before the switching has been calculated as a value of 0, so that the valve lift feedback control value after the switching is calculated with a value of 0 as an initial value thereof, whereby it is possible to avoid a sudden change in the valve lift control value.
  • the invention as claimed in claim 10 is an intake air amount control system 1 as claimed in claim 9, wherein the cam phase control value-calculating means calculates the cam phase feedback control value (master value Cain_cmd_ms of target cam phase) with a two-degree-of-freedom control algorithm [equations (2) to (7) and (10) to (14)], and the valve lift control value-calculating means calculates the valve lift feedback control value (master value Liftin_cmd_ms of target valve lift) with a two-degree-of-freedom control algorithm [equations (16) to (21) and (24) to (28)].
  • the cam phase control value-calculating means calculates the cam phase feedback control value (master value Cain_cmd_ms of target cam phase) with a two-degree-of-freedom control algorithm [equations (2) to (7) and (10) to (14)]
  • the valve lift control value-calculating means calculates the valve lift feedback control value (master value Liftin_cmd_ms of target valve lift) with a two-degree-of-free
  • the cam phase feedback control value and the valve lift feedback control value are calculated with two-degree-of-freedom control algorithms, and hence e.g. when target value filter-type two-degree-of-freedom control algorithms are used as the two-degree-of-freedom control algorithms, it is possible to properly set the convergence rate of the intake air amount to the target intake air amount with target value filter algorithms, and properly set the convergence behavior of the intake air amount to the target intake air amount with feedback control algorithms.
  • the invention as claimed in claim 11 is an intake air amount control system 1 as claimed in claim 9 or 10, wherein the cam phase control value-calculating means sets the cam phase-setting value (slave value Cain_cmd_sl of target cam phase) to such a value as makes earlier the valve-opening timing of the intake valve 4 (step 60) as the valve lift control value (target valve lift Liftin_cmd) is such a value as makes the valve lift Liftin smaller, and the valve lift control value-calculating means sets the valve lift-setting value (slave value Liftin_cmd_sl of target valve lift) to such a value as makes the valve lift Liftin smaller (steps 51 and 52) as the cam phase control value (target cam phase Cain_cmd) is such a value as makes earlier the valve-opening timing of the intake valve 4.
  • the cam phase control value-calculating means sets the cam phase-setting value (slave value Cain_cmd_sl of target cam phase) to such a value as makes earlier the valve-opening timing of the intake valve
  • the cam phase-setting value is set to such a value as makes earlier the valve-opening timing of the intake valve, and hence e.g. when the cam phase-setting value is set to such a value as makes the valve-opening timing of the intake valve earlier than the TDC position at the start of the intake stroke, the valve-opening timing of the intake valve can be properly controlled such that it is made earlier in accordance with the valve lift which is controlled to a smaller value as the load on the engine is lower to make smaller the target intake air amount.
  • the direction of control of the intake air amount by the cam phase control can be matched with the direction of control of the intake air amount by the valve lift control, whereby it is possible to more positively avoid the cam phase control from interacting with the valve lift control.
  • the cam phase control value is such a value as makes earlier the valve-opening timing of the intake valve
  • the valve lift-setting value is set to such a value as makes the valve lift smaller, and hence as described hereinabove, if the cam phase-setting value is set to such a value as makes the valve-opening timing of the intake valve earlier than the TDC position at the start of the intake stroke, valve lift as well can be properly controlled such that it is made smaller in accordance with the valve-opening timing of the intake valve, which is controlled such that it is made earlier as the load on the engine is lower to make smaller the target intake air amount.
  • the direction of control of the intake air amount by the valve lift control can be matched with the direction of control of the intake air amount by the cam phase control, whereby it is possible to more positively avoid the valve lift control from interacting with the cam phase control.
  • the valve-opening timing of the intake valve is made earlier (i.e. more advanced)
  • the internal EGR amount is increased to decrease the combustion speed
  • by controlling the valve lift to a smaller value to increase the fluidity of the mixture within the cylinder it is possible to compensate for the decrease in the combustion speed to attain stable combustion.
  • valve lift is controlled such that it is necessarily made smaller, and hence when the intake air amount control system is applied to an engine configured such that an intake valve and an exhaust valve thereof are brought into abutment with each other when they are simultaneously opened, it is possible to reliably avoid the above abutment.
  • the invention as claimed in claim 12 is an intake air amount control system 1 as claimed in any one of claims 9 to 11, further comprising control input-calculating means (ECU 2, valve lift controller 120, cam phase controller 220) for calculating a control input (phase control input Ucain) to the variable cam phase mechanism 70 according to the cam phase control value (target cam phase Cain_cmd), and calculating a control input (lift control input Uliftin) to the variable valve lift mechanism 50 according to the valve lift control value (target valve lift Liftin_cmd), and wherein a calculation period (control period ⁇ T1) at which the cam phase control value-calculating means and the valve lift control value-calculating means calculates is set to be longer than a calculation period (control period ⁇ T2) at which the control input-calculating means calculates.
  • control input-calculating means ECU 2, valve lift controller 120, cam phase controller 220
  • a control input to the variable cam phase mechanism is calculated according to the cam phase control value
  • a control input to the variable valve lift mechanism is calculated according to the valve lift control value
  • the calculation period at which the cam phase control value-calculating means and the valve lift control value-calculating means calculate is set to be longer than the calculation period at which the above control inputs are calculated.
  • the response speed of the intake air amount is made relatively slower due to the response speeds of the variable mechanisms, and hence the calculation period at which the cam phase control value-calculating means and the valve lift control value-calculating means calculate is properly set such that it is coincident with the above response speeds, whereby it is possible to accurately control a transitional change in the intake air amount.
  • the calculation period at which the control input-calculating means calculates is shorter than the calculation period at which the first and second control value-calculating means calculate, the control inputs to the variable cam phase mechanism and the variable valve lift mechanism can be calculated more quickly than the cam phase control value and the valve lift control value.
  • the intake air amount control system 1 includes an ECU 2, as shown in FIG. 2. As described hereinafter, the ECU 2 carries out control processes, including an intake air amount control process, depending on operating conditions of the internal combustion engine (hereinafter simply referred to as "the engine") 3.
  • the engine 3 is an in-line four-cylinder gasoline engine (only one cylinder is shown) installed on a vehicle, not shown.
  • the engine 3 includes an intake valve 4 and an exhaust valve 7 provided for each cylinder, for opening and closing an intake port and an exhaust port thereof, respectively, an intake camshaft 5 and intake cams 6 for actuating the intake valves 4, a variable intake valve-actuating mechanism 40 that actuates the intake valves 4 to open and close the same, an exhaust camshaft 8 and exhaust cams 9 for actuating the exhaust valves 7, an exhaust valve-actuating mechanism 80 that actuates the exhaust valves 7 to open and close the same, and so forth.
  • the intake valve 4 has a stem 4a thereof slidably fitted in a guide 4b.
  • the guide 4b is rigidly fixed to a cylinder head 3a.
  • the intake valve 4 includes upper and lower spring sheets 4c and 4d, and a valve spring 4e disposed therebetween, and is urged by the valve spring 4e in the valve-closing direction.
  • the intake camshaft 5 and the exhaust camshaft 8 are rotatably mounted through the cylinder head 3a via holders, not shown.
  • the intake camshaft 5 has a sprocket 5a (see FIG. 9) coaxially and rotatably fitted thereon.
  • the sprocket 5a is connected to a crankshaft 3b via a timing belt, not shown, and connected to the intake camshaft 5 via a variable cam phase mechanism 70, described hereinafter.
  • the intake camshaft 5 performs one rotation per two rotations of the crankshaft 3b.
  • the intake cam 6 is provided on the intake camshaft 5 for each cylinder such that the intake cam 6 rotates in unison with the intake camshaft 5.
  • variable intake valve-actuating mechanism 40 is provided for actuating the intake valve 4 of each cylinder so as to open and close the same, in accordance with rotation of the intake camshaft 5, and changing the lift and the valve timings of the intake valve 4, which will be described in detail hereinafter.
  • the lift of the intake valve 4" represents the maximum lift of the intake valve 4.
  • the exhaust valve 7 has a stem 7a thereof slidably fitted in a guide 7b.
  • the guide 7b is rigidly fixed to the cylinder head 3a.
  • the exhaust valve 7 includes upper and lower spring sheets 7c and 7d, and a valve spring 7e disposed therebetween, and is urged by the valve spring 7e in the valve-closing direction.
  • the exhaust camshaft 8 has a sprocket (not shown) integrally formed therewith, and is connected to the crankshaft 3b by the sprocket and a timing belt, not shown, whereby the exhaust camshaft 8 performs one rotation per two rotations of the crankshaft 3b.
  • the exhaust cam 9 is provided on the exhaust camshaft 8 for each cylinder such that the exhaust cam 9 rotates in unison with the exhaust camshaft 8.
  • the exhaust valve-actuating mechanism 80 includes exhaust rocker arms 81.
  • Each exhaust rocker arms 81 is pivotally moved in accordance with rotation of the associated exhaust cam 9 to thereby actuate the exhaust valve 7 for opening and closing the same against the urging force of the valve spring 7e.
  • the engine 3 is provided with a crank angle sensor 20 and an engine coolant temperature sensor 21.
  • the crank angle sensor 20 delivers a CRK signal and a TDC signal, which are both pulse signals, to the ECU 2 in accordance with rotation of the crankshaft 3b.
  • Each pulse of the CRK signal is generated whenever the crankshaft 3b rotates through a predetermined angle (e.g. 30 degrees).
  • the ECU 2 calculates the rotational speed NE of the engine 3 (hereinafter referred to as "the engine speed NE”) based on the CRK signal.
  • the TDC signal indicates that each piston 3c in the associated cylinder is in a predetermined crank angle position slightly before the TDC position at the start of the intake stroke, and each pulse of the TDC signal is generated whenever the crankshaft 3b rotates through a predetermined crank angle.
  • the engine speed NE corresponds to a load parameter and a first load parameter.
  • the engine coolant temperature sensor 21 is implemented e.g. by a thermistor mounted in a cylinder block 3d of the engine 3, and detects an engine coolant temperature TW, which is the temperature of an engine coolant circulating through the cylinder block 3d of the engine 3, to deliver a signal indicative of the sensed engine coolant temperature TW to the ECU 2.
  • an air flow sensor 22 a throttle valve mechanism 11, an intake pipe absolute pressure sensor 23, a fuel injection valve 12, and so forth, from upstream to downstream in the mentioned order at respective locations of the intake pipe 10.
  • the air flow sensor 22 (intake air amount-detecting means) is formed by a hot-wire air flow meter, for detecting an amount Gth of intake air (hereinafter referred to as "the TH passing intake air amount Gth") flowing through the throttle valve 11a, described hereinafter, and delivering a signal indicative of the sensed TH passing intake air amount Gth to the ECU 2.
  • the throttle valve mechanism 11 includes a throttle valve 11a, and a TH actuator 11b that actuates the throttle valve 11a to open and close the same.
  • the throttle valve 11a is pivotally disposed across an intermediate portion of the intake pipe 10 such that the degree of opening thereof is changed by the pivotal motion thereof to thereby change the TH passing intake air amount Gth.
  • the TH actuator 11b is implemented by a combination of a motor, not shown, connected to the ECU 2, and a gear mechanism, not shown, and driven by a control input from the ECU 2 to thereby change the degree of opening of the throttle valve 11a.
  • the ECU 2 holds the throttle valve 11a in a fully-open state during normal operation of the engine 3, and controls the degree of opening of the throttle valve 11a when the variable intake valve-actuating mechanism 40 is faulty, or when negative pressure is supplied to a master back (not shown).
  • the intake pipe absolute pressure sensor 23 (intake air amount-detecting means) is implemented e.g. by a semiconductor pressure sensor, and detects an absolute pressure PBA in the intake pipe 10 (hereinafter referred to as "the intake pipe absolute pressure PBA"), to deliver a signal indicative of the sensed intake pipe absolute pressure PBA to the ECU 2.
  • the fuel injection valve 12 is driven by an input signal indicative of a fuel injection amount TOUT, supplied from the ECU 2, and injects fuel into the intake pipe 10.
  • a first catalytic device 16a and a second catalytic device 16b from upstream to downstream in the mentioned order at respective locations of the exhaust pipe 15. NOx, HC, CO, and so forth in exhaust gases are reduced by the catalytic devices 16a and 16b.
  • the O2 sensor 25 is inserted into the exhaust pipe 15 between the first and second catalytic devices 16a and 16b.
  • the O2 sensor 25 is comprised of a zirconia layer and platinum electrodes, and detects the concentration of oxygen contained in exhaust gases downstream of the first catalytic device 16a, to deliver a signal indicative of the detected oxygen concentration to the ECU 2.
  • a LAF sensor 24 is mounted at a location upstream of the first catalytic device 16a of the exhaust pipe 15.
  • the LAF sensor 24 is formed by combining a sensor similar to the O2 sensor 25 and a detection circuit, such as a linearizer, and detects the concentration of oxygen contained in exhaust gases linearly over a wide range of the air-fuel ratio ranging from a rich region to a lean region, thereby delivering a detection signal proportional to the sensed oxygen concentration to the ECU 2.
  • the ECU 2 carries out air-fuel ratio control based on the detection signals delivered from the LAF sensor 24 and the O2 sensor 25.
  • spark plugs 13 are mounted through respective cylinder heads 3e of the engine 3. Each spark plug 13 is connected to the ECU 2. When the spark plug 13 has a high voltage applied thereto based on a signal from the ECU 2 in timing corresponding to ignition timing Iglog, the spark plug 13 causes a spark discharge, thereby burning a mixture within a combustion chamber.
  • variable intake valve-actuating mechanism 40 is comprised of the intake camshaft 5, the intake cams 6, a variable valve lift mechanism 50, and the variable cam phase mechanism 70.
  • the variable valve lift mechanism 50 is provided for actuating the intake valves 4 to open and close the same, in accordance with rotation of the intake camshaft 5, and continuously changing the valve lift Liftin within a predetermined range (between a maximum value Liftinmax and a minimum value Liftinmin, described hereinafter).
  • the variable valve lift mechanism 50 is comprised of rocker arm mechanisms 51 of a four joint link type, provided for the respective cylinders, and a lift actuator 60 simultaneously actuating these rocker arm mechanisms 51.
  • Each rocker arm mechanism 51 is comprised of a rocker arm 52, and upper and lower links 53 and 54.
  • the upper link 53 has one end pivotally mounted to an upper end of the rocker arm 52 by an upper pin 55, and the other end pivotally mounted to a rocker arm shaft 56.
  • the rocker arm shaft 56 is mounted through the cylinder head 3c via holders, not shown.
  • a roller 57 is pivotally disposed on the upper pin 55 of the rocker arm 52.
  • the roller 57 is in contact with a cam surface of the intake cam 6.
  • the roller 57 rolls on the intake cam 6 while being guided by the cam surface of the intake cam 6.
  • the rocker arm 52 is vertically driven, and the upper link 53 is pivotally moved about the rocker arm shaft 56.
  • an adjusting bolt 52a is mounted to an end of the rocker arm 52 toward the intake valve 4.
  • the adjusting bolt 52a has a predetermined valve clearance between a lower end face thereof and an upper end face of the stem 4a of the intake valve 4, and when the rocker arm 52 is vertically moved in accordance with rotation of the intake cam 6, the adjusting bolt 52a vertically drives the stem 4a to open and close the intake valve 4, against the urging force of the valve spring 4e.
  • the lower link 54 has one end pivotally mounted to a lower end of the rocker arm 52 by a lower pin 58, and the other end of the lower link 54 has a connection pin 59 pivotally mounted thereto.
  • the lower link 54 is connected to a short arm 65, described hereinafter, of the lift actuator 60 by the connection pin 59.
  • the lift actuator 60 is comprised of a motor 61, a nut 62, a link 63, a long arm 64, and the short arm 65.
  • the motor 61 is connected to the ECU 2 (see FIG. 2), and disposed outside a head cover 3e of the engine 3.
  • the rotational shaft of the motor 61 is a screw shaft 61a formed with a male screw and the nut 62 is screwed onto the screw shaft 61a.
  • the nut 62 is connected to the long arm 64 by the link 63.
  • the link 63 has one end pivotally mounted to the nut 62 by a pin 63a, and the other end pivotally mounted to one end of the long arm 64 by a pin 63b.
  • the other end of the long arm 64 is attached to one end of the short arm 65 by a pivot shaft 66.
  • the pivot shaft 66 is circular in cross-section, and extends through the head cover 3e of the engine 3 such that it is pivotally supported by the head cover 3e.
  • the long arm 64 and the short arm 65 are pivotally moved in unison with the pivot shaft 66 in accordance with pivotal motion of the pivot shaft 66.
  • connection pin 59 pivotally extends through the other end of the short arm 65, whereby the short arm 65 is connected to the lower link 54 by the connection pin 59.
  • variable valve lift mechanism 50 when a lift control input Uliftin, described hereinafter, is input from the ECU 2 to the motor 61 of the lift actuator 60, the screw shaft 61a rotates, and the nut 62 is moved in accordance with the rotation of the screw shaft 61a, whereby the long arm 64 and the short arm 65 are pivotally moved about the pivot shaft 66, and in accordance with the pivotal motion of the short arm 65, the lower link 54 of the rocker arm mechanism 51 is pivotally moved about the lower pin 58. That is, the lower link 54 is driven by the lift actuator 60.
  • Uliftin a lift control input Uliftin
  • the range of pivotal motion of the short arm 65 is restricted between a maximum lift position shown in FIG. 5(a) and a minimum lift position shown in FIG. 5(b), whereby the range of pivotal motion of the lower link 54 is also restricted between a maximum lift position indicated by a solid line in FIG. 4 and a minimum lift position indicated by a two-dot chain line in FIG. 4.
  • the four joint link formed by the rocker arm shaft 56, the upper and lower pins 55 and 58, and the connection pin 59 is configured such that when the lower link 54 is in the maximum lift position, the distance between the center of the upper pin 55 and the center of the lower pin 58 becomes shorter than the distance between the center of the rocker arm shaft 56 and the center of the connection pin 59, whereby as shown in FIG. 6, when the intake cam 6 rotates, the amount of movement of the adjusting bolt 52a becomes larger than the amount of movement of a contact point where the intake cam 6 and the roller 57 are in contact with each other.
  • the four joint link is configured such that when the lower link 54 is in the minimum lift position, the distance between the center of the upper pin 55 and the center of the lower pin 58 becomes longer than the distance between the center of the rocker arm shaft 56 and the center of the connection pin 59, whereby as shown in FIGS. 7(a) and 7(b), when the intake cam 6 rotates, the amount of movement of the adjusting bolt 52a becomes smaller than the amount of movement of the contact point where the intake cam 6 and the roller 57 are in contact with each other.
  • the intake valve 4 is opened with a larger valve lift Liftin than when the lower link 54 is in the minimum lift position. More specifically, during rotation of the intake cam 6, when the lower link 54 is in the maximum lift position, the intake valve 4 is opened according to a valve lift curve indicated by a solid line in FIG. 8, and the valve lift Liftin assumes its maximum value Liftinmax. On the other hand, when the lower link 54 is in the minimum lift position, the intake valve 4 is opened according to a valve lift curve indicated by a two-dot chain line in FIG. 8, and the valve lift Liftin assumes its minimum value Liftinmin. It should be noted that in FIG. 8, the horizontal axis represents the cam phase which is the rotational angle of the intake camshaft 5.
  • the lower link 54 is pivotally moved by the motor 61 between the maximum lift position and the minimum lift position, whereby it is possible to continuously change the valve lift Liftin of the intake valve 4 between the maximum value Liftinmax and the minimum value Liftinmin.
  • the valve-opening timing of the intake valve 4 becomes more retarded when the valve lift Liftin assumes its minimum value Liftinmin than when it assumes its maximum value Liftinmax. This is because the gradient of rise of the valve lift curve becomes smaller as the valve lift Liftin is smaller, so that the start of opening of the intake valve 4 is retarded by the influence of the valve clearance.
  • the engine 3 is provided with a pivot angle sensor 26 (see FIG. 2).
  • the pivot angle sensor 26 detects a pivot angle of the pivot shaft 66, i.e. the short arm 65, and delivers a signal indicative of the sensed pivot angle to the ECU 2.
  • the ECU 2 calculates the valve lift Liftin of the intake valve 4 based on the signal output from pivot angle sensor 25.
  • variable cam phase mechanism 70 is of an electromagnetic type, and as described hereinbelow, provided for continuously changing a phase Cain of the intake cam 6, i.e. the intake camshaft 5, with respect to the crankshaft 3b (hereinafter referred to as "the cam phase Cain") within a predetermined range (range between a most retarded value Cainrt and a most advanced value Cainad, described hereinafter) by an electromagnetic force Fsol, to thereby continuously change the valve timing of the intake valve 4.
  • the variable cam phase mechanism 70 includes a planetary gear unit 71 and an electromagnetic brake 72.
  • the planetary gear unit 71 transmits rotation between the intake camshaft 5 and the sprocket 5a, and is comprised of a ring gear 71a, three planetary pinion gears 71b, a sun gear 71c, and a planetary carrier 71d.
  • the ring gear 71a is connected to an outer casing 73, referred to hereinafter, of the electromagnetic brake 72, and rotated coaxially in unison with the outer casing 73.
  • the sun gear 71c is coaxially attached to a foremost end of the intake camshaft 5 for rotation in unison therewith.
  • the planetary carrier 71d has a generally triangular shape in cross-section, and includes shafts 71e protruding from the three corners thereof.
  • the planetary carrier 71d is connected to the sprocket 5a via these shafts 71e, such that it rotates coaxially in unison with the sprocket 5a.
  • each planetary pinion gear 71b is rotatably supported on an associated one of the shafts 71e of the planetary carrier 71d, and is disposed between the sung gear 71c and the ring gear 71a, in constant mesh with these gears.
  • the electromagnetic brake 72 is comprised of an outer casing 73, a core 74, a solenoid 75, and a return spring 76.
  • the outer casing 73 is formed to be hollow, and the core 74 is disposed therein in a manner rotatable relative to the outer casing 73.
  • the core 74 is comprised of a root portion 74a circular in cross-section, and two arms 74b and 74b extending radially from the root portion 74a.
  • the core 74 has its root portion 74a mounted on the planetary carrier 71d for coaxial rotation in unison with the planetary carrier 71d.
  • the outer casing 73 there are provided two pairs of stoppers 73a and 73b, at spaced intervals, each pair formed by a stopper 73a defining the most retarded position and a stopper 73b defining the most advanced position.
  • the arms 74b of the core 74 are disposed between the respective pairs of stoppers 73a and 73b, whereby the core 74 is rotatable relative to the outer casing 73 between the most retarded position (indicated by solid lines in FIG. 11) in which the arms 74b are brought into contact with the most retarded position stoppers 73a and stopped thereat, and the most advanced position (indicated by two-dot chain lines in FIG. 11) in which the arms 74b are brought into contact with the most advanced position stoppers73b and stopped thereat.
  • the return spring 76 is interposed in a compressed state between one of the most advanced position stoppers 73b and the opposed one of the arms 74b, and the urging force of the return spring 76 urges the arms 74b toward the most retarded position stoppers 73a.
  • the solenoid 75 is attached to one of the most advanced position stoppers 73b on a side opposite to the return spring 76, such that it is flush with an end of the most advanced position stopper 73b opposed to the arm 74b.
  • the solenoid 75 is electrically connected to the ECU 2, and when the solenoid 75 is energized by a phase control input Ucain (voltage signal) from the ECU 2, the electromagnetic force Fsol thereof attracts the opposed one of the arms 74b against the urging force of the return spring 76 to pivotally move the same toward the most advanced position stopper 73b.
  • variable cam phase mechanism 70 constructed as described above.
  • the solenoid 75 of the electromagnetic brake 72 when the solenoid 75 of the electromagnetic brake 72 is not energized, the core 74 is held by the urging force of the return spring 76 at the most retarded position in which the arm 74b abuts the most retarded position stopper 73a, whereby the cam phase Cain is held at the most retarded value Cainrt (see FIG. 12).
  • the arm 74b of the core 74 is attracted by the electromagnetic force Fsol of the solenoid 75 toward the most advanced position stopper 73b, i.e. toward the most advanced position, against the urging force of the return spring 76, to be pivotally moved to a position where the electromagnetic force Fsol and the urging force are balanced with each other.
  • the outer casing 73 rotates relative to the core 74 in a direction opposite to the direction indicated by the arrow Y1.
  • the pivotal motion of the outer casing 73 is transmitted to the intake camshaft 5 via the ring gear 71a, the planetary pinion gears 71b, and the sun gear 71c, and therefore the speed-increasing action of the planetary gear unit 70 causes the intake camshaft 5 to rotate relative to the sprocket 5a by an amplified or increased amount of angle of rotation of the outer casing 73. That is, the amount of advance of the cam phase Cain of the intake cam 6 is configured to be equal to an amplified value of angle of rotation of the outer casing 73. This is because the electromagnetic force Fsol of the solenoid 75 has a limit beyond which it is not effective, and hence it is necessary to cause the cam phase Cain to vary through a wider range by compensating for the limit.
  • the cam phase Cain is continuously varied by the phase control input Ucain to the solenoid 75 between the most retarded value Cainrt (0°) and the most advanced value Cainad (e.g. 55°), and a solid curve indicative of values of the cam phase Cain assumed when the phase control input Ucain is increasing, and a broken line indicative of values of the cam phase assumed when the phase control input Ucain is decreasing are different from each other, i.e. the cam phase Cain exhibits a hysteresis characteristic.
  • the solenoid 75 has the characteristic that the electromagnetic force Fsol generated by the solenoid 75 is slow in rising when the solenoid 75 is energized by the phase control input Ucain at the start of operation thereof, as shown in FIG. 13.
  • the cam phase Cain is continuously varied between the most retarded value Cainrt and the most advanced value Cainad, whereby the valve timings of the intake valve 4 are steplessly varied between the most retarded timing indicated by a solid line in FIG. 14 and the most advanced timing indicated by a two-dot chain line in FIG. 14.
  • variable cam phase mechanism 70 described above in place of the conventional hydraulic variable cam phase mechanism is as follows:
  • the conventional hydraulic variable cam phase mechanism has characteristics that it takes time before an oil pressure pump is started, and the hydraulic pressure is thereby sufficiently increased to make the cam phase Cain controllable; the response of the mechanism is degraded when the oil temperature is very low; dead time is long; and responsiveness is low.
  • the variable cam phase mechanism 70 used in the present embodiment is advantageous in that it is neither required to wait for the hydraulic pressure to rise nor affected by oil temperature, but is capable of properly controlling the cam phase Cain from the start thereof, and further is short in dead time and ensures higher responsiveness.
  • the variable cam phase mechanism 30 is used to make use of these advantages.
  • variable intake valve-actuating mechanism 40 used in the present embodiment, the valve lift Liftin of the intake valve 4 is continuously changed by the variable valve lift mechanism 50, and the cam phase Cain, i.e. the valve timing of the intake valve 4 is continuously changed by the variable cam phase mechanism 70. Further, as described hereinafter, the valve lift Liftin and the cam phase Cain are controlled by the ECU 2 via the variable valve lift mechanism 50 and the variable cam phase mechanism 70, respectively.
  • the variable intake valve-actuating mechanism 40 is configured such that e.g. even when the valve lift Liftin is controlled to its maximum value Liftinmax and the cam phase Cain is controlled to the most retarded value Cainrt, the intake valve 4 is opened in timing before the TDC position at the start of the intake stroke.
  • a cam angle sensor 27 (see FIG. 2) is disposed at an end of the intake camshaft 5 opposite from the variable cam phase mechanism 70.
  • the cam angle sensor 27 is implemented e.g. by a magnet rotor and an MRE pickup, for delivering a CAM signal, which is a pulse signal, to the ECU 2 along with rotation of the intake camshaft 5.
  • a CAM signal which is a pulse signal
  • Each pulse of the CAM signal is generated whenever the intake camshaft 5 rotates through a predetermined cam angle (e.g. 1°).
  • the ECU 2 calculates the cam phase Cain based on the CAM signal and the CRK signal described above.
  • the accelerator pedal opening sensor 28 detects an opening or stepped-on amount of an accelerator pedal, not shown, (hereinafter referred to as “the accelerator pedal opening AP") AP and delivers a signal indicative of the detected accelerator pedal opening AP to the ECU 2.
  • the accelerator pedal opening AP is turned on or off by operation of an ignition key, not shown, and delivers a signal indicative of the ON/OFF state thereof to the ECU 2.
  • the accelerator pedal opening AP corresponds to the load parameter and the first load parameter.
  • the ECU 2 is implemented by a microcomputer including an I/O interface, a CPU, a RAM, a ROM.
  • the ECU 2 determines operating conditions of the engine 3, based on the detection signals delivered from the above-mentioned sensors 20 to 28, the ON/OFF signal from the IG ⁇ SW 29, and the like, and controls the intake air amount. More specifically, as will be described in detail hereinafter, the ECU 2 controls the valve lift Liftin and the cam phase Cain via the variable valve lift mechanism 50 and the variable cam phase mechanism 70, respectively, whereby the amount of intake air is controlled.
  • FIGS. 15(a) to 15(c) when only the valve lift Liftin is changed, the area of a hatched portion in FIG. 15(a) decreases two-dimensionally as the valve lift Liftin is decreased. It is understood that at this time, the intake air amount is changed in proportion to the area of the hatched portion, and therefore an increase or a decrease in the valve lift Liftin can cause a steep increase or decrease in the intake air amount, thereby making it possible to ensure high responsiveness.
  • FIGS. 16(a) to 16(c) when only the cam phase Cain is changed, the area of a hatched portion in FIG. 16(a) changes substantially one-dimensionally as the cam phase Cain is advanced. This tendency becomes marked in a state of the valve lift Liftin being very small.
  • the intake air amount changes in proportion to the area of the hatched portion, and therefore it is understood that by advancing and retarding the cam phase Cain, the intake air amount can be finely increased and decreased by a very small amount of change, thereby making it possible to secure high control accuracy.
  • valve lift control and cam phase control in which one of valve lift control and cam phase control is set to a master and the other to a slave is carried out, as described hereinafter. More specifically, in the intake air amount control, when high responsiveness is required, such as in a high-load operating condition of the engine 3, the valve lift control is set to the master, and the cam phase control to the slave, respectively, whereas when high control accuracy is required, such as in a low-load operating condition of the engine 3, the valve lift control is set to the slave, and the cam phase control to the master, respectively.
  • the lift master mode a control mode in which the valve lift control is set to the master, and the cam phase control to the slave
  • the cam phase control to the master a control mode in which the valve lift control is set to the slave, and the cam phase control to the master
  • the ECU 2 implements target intake air amount-setting means, intake air amount-detecting means, first control value-calculating means, second control value-calculating means, control input-calculating means, first control means, second control means, control selection means, load region-determining means, second load parameter-setting means, cam phase control value-calculating means, and a valve lift control value-calculating means.
  • the intake air amount control system 1 is comprised of a target intake air amount-calculating section 90, a first ACTASS controller 100, a first slave value-calculating section 110, a target valve lift-calculating section 111, a valve lift controller 120, a second ACTASS controller 200, a second slave value-calculating section 210, a target cam phase-calculating section 211, a cam phase controller 220, and a master/slave-selecting section 230, all of which are implemented buy the ECU 2.
  • the lift control input Uliftin and the phase control input Ucain are calculated, and the control inputs Uliftin and Ucain are input to the variable valve lift mechanism 50 and the variable cam phase mechanism 70, respectively, whereby an actual intake air amount Gcyl is controlled such that it converges to a target intake air amount Gcyl_cmd.
  • the actual intake air amount Gcyl is an intake air amount estimated to be actually sucked into the cylinders. More specifically, it is calculated by an equation (1) in FIG. 19.
  • VB and R represent the internal volume of the intake pipe, and a predetermined gas constant, respectively.
  • discrete data with a symbol (k) indicates that it is data sampled (or calculated) in synchronism with a predetermined control period ⁇ T1.
  • the symbol k indicates a position in the sequence of sampling cycles of respective discrete data.
  • the symbol k indicates that discrete data therewith is a value sampled in the current control timing
  • a symbol k-1 indicates that discrete data therewith is a value sampled in the immediately preceding control timing. This applies to the following discrete data.
  • the symbol (k) and the like provided for the discrete data are omitted as deemed appropriate.
  • control period ⁇ T1 is set to a predetermined value (e.g. 10 msec) capable of properly reflecting the dynamic characteristic of the intake air amount on a plant model [equations (8) and (22)], described hereinafter. Furthermore, in the present embodiment, the control period ⁇ T1 corresponds to a calculation period for the first and second control value-calculating means.
  • the target intake air amount-calculating section 90 calculates the target intake air amount Gcyl_cmd according to the accelerator pedal opening AP, the engine speed NE, the engine coolant temperature TW, and so forth.
  • the first ACTASS controller 100 calculates a master value Liftin_cmd_ms of the target valve lift with a control algorithm, referred to hereinafter, according to the target intake air amount Gcyl_cmd
  • the first slave value-calculating section 110 calculates a slave value Liftin_cmd_sl of the target valve lift by searching a table, referred to hereinafter, according to a target cam phase Cain_cmd.
  • the target valve lift-calculating section 111 calculates the target valve lift Liftin_cmd as the sum of the master value Liftin_cmd_ms and the slave value Liftin_cmd_sl thereof, and the valve lift controller 120 (control input-calculating means) calculates the lift control input Uliftin, which is a control input to the variable valve lift mechanism 50, with a control algorithm, referred to hereinafter, according to the target valve lift Liftin_cmd and the valve lift Liftin.
  • the second ACTASS controller 200 calculates a master value Cain_cmd_ms of the target cam phase with a control algorithm, referred to hereinafter, according to the target intake air amount Gcyl_cmd
  • the second slave value-calculating section 210 calculates a slave value Cain_cmd_sl of the target cam phase by searching a table, referred to hereinafter, according to the target valve lift Liftin_cmd.
  • the target cam phase-calculating section 211 calculates the target cam phase Cain_cmd as the sum of the master value Cain_cmd_ms and the slave value Cain_cmd_sl thereof, and the cam phase controller 220 (control input-calculating means) calculates the phase control input Ucain, which is a control input to the variable cam phase mechanism 70, with a control algorithm, referred to hereinafter, according to the target cam phase Cain_cmd and the cam phase Cain.
  • the master/slave-selecting section 230 selects an algorithm with which the first ACTASS controller 100 calculates the master value Liftin_cmd_ms of the target valve lift based on the target valve lift Liftin_cmd or the target cam phase Cain_cmd, and an algorithm with which the second ACTASS controller 200 calculates the master value Cain_cmd_ms of the target cam phase.
  • the target cam phase Cain_cmd corresponds to the first control value, the second control value, a second load parameter, a parameter representing the state of the cam phase control, and a cam phase control value.
  • the master value Cain_cmd_ms of the target cam phase corresponds to a feedback control value and a cam phase feedback control value
  • the slave value Cain_cmd_sl of the target cam phase corresponds to the second control value and a cam phase-setting value.
  • the target valve lift Liftin_cmd corresponds to the first control value, the second control value, the second load parameter, a parameter representing the state of the valve lift control, and a valve lift control value.
  • the master value Liftin_cmd_ms of the target valve lift corresponds to the feedback control value and a valve lift feedback control value
  • the slave value Liftin_cmd_sl of the target valve lift corresponds to the second control value and a valve lift-setting value.
  • the first ACTASS controller 100 calculates the master value Liftin_cmd_ms of the target valve lift with a target value filter-type two-degree-of-freedom sliding mode control algorithm [equations (2) to (7) shown in FIG. 19], and is comprised of a target value filter 101, a sliding mode controller 102, and an adaptive disturbance observer 108.
  • the target value filter 101 calculates a filtered value Gcyl_cmd_f of the target intake air amount with a first-order lag filter algorithm expressed by the equation (2) shown in FIG. 19.
  • POLE_f represents a target value filter-setting parameter set to a value satisfying the relationship of -1 ⁇ POLE_f ⁇ 0.
  • the sliding mode controller 102 calculates the master value Liftin_cmd_ms of the target valve lift with a sliding mode control algorithm, described hereinafter, and is comprised of an equivalent control input-calculating section 103, a follow-up error-calculating section 104, a switching function-calculating section 105, a reaching law input-calculating section 106, and a master value-calculating section 107.
  • the equivalent control input-calculating section 103 calculates an equivalent control input Ueq by the equation (4) shown in FIG. 19.
  • POLE represents a switching function-setting parameter, described hereinafter, a1, a2, b1, and b2 model parameters of a model, described hereinafter, and c1 a disturbance estimate which is calculated by the adaptive disturbance observer 108, as described hereinafter.
  • the follow-up error-calculating section 104 calculates a follow-up error Egc by the equation (7) in FIG. 19, and the switching function-calculating section 105 calculates a switching function ⁇ by the equation (6) shown in FIG. 19.
  • the switching function-setting parameter POLE is set to a value satisfying the relationship of -1 ⁇ POLE ⁇ 0.
  • the reaching law input-calculating section 106 calculates a reaching law input Urch by the equation (5) shown in FIG. 19.
  • Krch represents a reaching law gain, which is set to a predetermined value.
  • the master value-calculating section 107 calculates the master value Liftin_cmd_ms of the target valve lift.
  • the sliding mode controller 102 calculates the master value Liftin_cmd_ms of the target valve lift with the sliding mode control algorithm expressed by the equations (3) to (7) in FIG. 19. It should be noted that the above equations (3) to (7) are derived as follows:
  • a plant 112 (see FIG. 18) is defined as a system to which is inputted the target valve lift Liftin_cmd and from which is outputted the actual intake air amount Gcyl, and modeled into a discrete-time system model, whereby the equation (8) shown in FIG. 19 is obtained.
  • a1, a2, b1, and b2 represent model parameters, which are set to predetermined values.
  • the equation (8) represents a relation in dynamic characteristics between the target valve lift Liftin_cmd and the actual intake air amount Gcyl.
  • the relation in dynamic characteristics therebetween, and a relation in dynamic characteristics between the master value Liftin_cmd_ms, as a feedback component of the target valve lift Liftin_cmd, and the actual intake air amount Gcyl are substantially the same, and therefore when the target valve lift Liftin_cmd in the equation (8) is replaced by the master value Liftin_cmd_ms of the target valve lift, a model expressed by an equation (9) in FIG. 19 is derived.
  • the adaptive disturbance observer 108 calculates the disturbance estimate c1, and an algorithm for calculating the disturbance estimate c1 is selected by the aforementioned master/slave-selecting section 230 based on the target valve lift Liftin_cmd or the target cam phase Cain_cmd.
  • the disturbance estimate c1 is calculated with an identification algorithm expressed by equations (10) to (14) in FIG. 20.
  • Pdov represents a predetermined identification gain
  • e_dov an identification error.
  • the identification error e_dov is calculated by the equation (11).
  • Gcyl_hat represents an identified value of the actual intake air amount Gcyl, which is calculated by the equation (12).
  • ⁇ represents a vector the transposed matrix of which is represented by the equation (13)
  • ⁇ represents a vector the transposed matrix of which is represented by the equation (14).
  • the disturbance estimate c1 is calculated by an equation (15) shown in FIG. 20.
  • Ueq -Urch
  • the master value Liftin_cmd_ms of the target valve lift is calculated with the algorithm for the lift master mode [the equations (2) to (7), and (10) to (14)] whereas when the control mode is the phase master mode, the master value Liftin_cmd_ms is calculated with the algorithm for the phase master mode [the equations (2) to (7), and (15)].
  • curves in solid lines represent curves obtained when the target value filter-setting parameter POLE_f and the switching function-setting parameter POLE are both set to values close to 0, and curves in two-dot chain lines represent curves obtained when the target value filter-setting parameter POLE_f and the switching function-setting parameter POLE are both set to values close to -1.
  • the target value filter-setting parameter POLE_f is set to a value close to 0 within the aforementioned range, it is possible to enhance the follow-up property, and if the switching function-setting parameter POLE is set to a value close 0 within the aforementioned range, it is possible to enhance the disturbance-suppressing capability. This means that even when a demanded torque of the engine 3 is suddenly changed, it is possible to avoid overshooting and an oscillating behavior in the intake air amount control. Moreover, since the two-degree-of-freedom sliding mode control algorithm is used, it is possible to set the target value filter-setting parameter POLE_f and the switching function-setting parameter POLE separately from each other.
  • the second ACTASS controller 200 calculates the master value Cain_cmd_ms of the target cam phase with a target value filter-type two-degree-of-freedom sliding mode control algorithm [equations (16) to (21) shown in FIG. 23], and is comprised of a target value filter 201, a sliding mode controller 202, and an adaptive disturbance observer 208.
  • the target value filter 201 calculates the filtered value Gcyl_cmd_f of the target intake air amount by the equation (16) shown in FIG. 23, that is, with the same first-order lag filter algorithm as expressed by the aforementioned equation (2).
  • the sliding mode controller 202 calculates the master value Cain_cmd_ms of the target cam phase with a sliding mode control algorithm, described hereinafter, and is comprised of an equivalent control input-calculating section 203, a follow-up error-calculating section 204, a switching function-calculating section 205, a reaching law input-calculating section 206, and a master value-calculating section 207.
  • the equivalent control input-calculating section 203 calculates an equivalent control input Ueq' by the equation (18) shown in FIG. 23.
  • POLE' represents a switching function-setting parameter described hereinafter, a1', a2', b1', and b2' model parameters of a model, described hereinafter, and c1'a disturbance estimate calculated by the adaptive disturbance observer 208, as described hereinafter.
  • the follow-up error-calculating section 204 calculates the follow-up error Egc by the equation (21) in FIG. 23, i.e. by the same equation as the aforementioned equation (7), and the switching function-calculating section 205 calculates a switching function ⁇ ' by the equation (20) shown in FIG. 23.
  • the switching function-setting parameter POLE' is set to a value satisfying the relationship of -1 ⁇ POLE' ⁇ 0.
  • the reaching law input-calculating section 206 calculates a reaching law input Urch' by the equation (19) shown in FIG. 23.
  • Krch' represents a reaching law gain, which is set to a predetermined value.
  • the master value-calculating section 207 calculates the master value Cain_cmd_ms of the target cam phase.
  • the sliding mode controller 202 calculates the master value Cain_cmd_ms of the target cam phase with the sliding mode control algorithm expressed by the equations (17) to (21) in FIG. 23.
  • the above equations (17) to (21) are derived as follows:
  • a plant 212 (see FIG. 22) is defined as a system to which is inputted the target cam phase Cain_cmd and from which is outputted the actual intake air amount Gcyl, and modeled into a discrete-time system model, whereby the equation (22) shown in FIG. 23 is obtained.
  • a1', a2', b1', and b2' represent model parameters, which are set to predetermined values.
  • the adaptive disturbance observer 208 calculates the disturbance estimate c1', and an algorithm for calculating the disturbance estimate c1' is selected by the aforementioned master/slave-selecting section 230 based on the target valve lift Liftin_cmd or the target cam phase Cain_cmd.
  • the disturbance estimate c1' is calculated with an identification algorithm expressed by equations (24) to (28) in FIG. 24.
  • Pdov' represents a predetermined identification gain
  • e_dov' an identification error.
  • the identification error e_dov' is calculated by the equation (25).
  • Gcyl_hat' represents an identified value of the actual intake air amount Gcyl, which is calculated by the equation (26).
  • ⁇ ' represents a vector the transposed matrix of which is represented by the equation (27), and ⁇ ' a vector the transposed matrix of which is represented by the equation (28).
  • the disturbance estimate c1' is calculated by an equation (29) shown in FIG. 24.
  • Ueq' -Urch' is obtained.
  • the master value Cain_cmd_ms of the target cam phase is calculated with the algorithm for the phase master mode [the equations (16) to (21), and (24) to (28)] whereas when the control mode is the lift master mode, the master value Cain_cmd_ms is calculated with the algorithm for the lift master mode [the equations (16) to (21), and (29)].
  • target value filter-setting parameter POLE_f in the range of -1 ⁇ POLE_f ⁇ 0, as desired, as described above, it is possible to freely specify the follow-up property, and by setting the switching function-setting parameter POLE' in the range of -1 ⁇ POLE' ⁇ 0, as desired, it is possible to freely specify the disturbance-suppressing capability.
  • valve lift controller 120 calculates the lift control input Uliftin with a control algorithm, described hereinbelow, such that the valve lift Liftin is caused to converge to the target valve lift Liftin_cmd, and is comprised of a state predictor 121, an onboard identifier 122, and a two-degree-of-freedom sliding mode controller 123, as shown in FIG. 25.
  • the state predictor 121 calculates a predicted valve lift Pre_Liftin, which is a predicted value of the valve lift Liftin, with a prediction algorithm described hereinafter.
  • an equation (30) shown in FIG. 26 is used as a plant model.
  • dx represents a dead time determined by characteristics of a plant.
  • a1", a2", b1", and b2" represent model parameters, which are sequentially identified by the onboard identifier 122, as described hereinafter.
  • a symbol n represents a discretized time, and discrete data with the symbol (n) indicates that it is data sampled in synchronism with a predetermined control period ⁇ T2 (e.g. 2 msec) shorter than the control period of discrete data with the symbol (k) described above. This applies to other discrete data in equations described hereinafter.
  • the symbol (n) indicating that data therewith is discrete data is omitted when deemed appropriate.
  • the control period ⁇ T2 corresponds to a calculation period for the control input-calculating means.
  • the state predictor 121 calculates the predicted valve lift Pre_Liftin using an equation (34) shown in FIG. 26 in place of the equation (33).
  • This equation (34) is obtained by adding to the right side of the equation (33), a compensation value ⁇ 1 for compensating for the steady-state deviation and the modeling errors, and replacing Liftin on the left side of the equation (33) by Pre_Liftin.
  • the onboard identifier 122 identifies, with a sequential identification algorithm described hereinbelow, a vector ⁇ x of matrix components ⁇ 1, ⁇ 2, and ⁇ j of the model parameters and the compensation value ⁇ 1, in the aforementioned equation (34).
  • the vector ⁇ x is calculated by equations (35) to (40) shown in FIG. 27.
  • the transposed matrix of the vector ⁇ x is defined by the equation (39).
  • KP represents a vector of a gain coefficient
  • the vector KP of the gain coefficient is calculated by the equation (36).
  • P represents a square matrix of order (dx + 4) defined by the equation (37)
  • ⁇ x represents a vector the transposed matrix of which is defined by the equation (40).
  • an identification error ide in the equation (35) is calculated by the equation (38).
  • the TDFSLD controller 123 calculates the lift control input Uliftin with a target value filter-type two-degree-of-freedom sliding mode control algorithm such that the valve lift Liftin converges to the target valve lift Liftin_cmd.
  • an equivalent control input Ueq" is calculated by the equation (43).
  • POLE represents a switching function-setting parameter, which is set to a value satisfying the relationship of -1 ⁇ POLE" ⁇ 0.
  • a reaching law input Urch is calculated by the equation (44).
  • Krch represents a predetermined reaching law gain
  • Pre_ ⁇ a predicted switching function calculated by the equation (45).
  • Pre_E_lf represents a follow-up error, which is calculated by the equation (46).
  • the state predictor 121 calculates the predicted valve lift Pre_Liftin with a state-predicting algorithm having the compensation value ⁇ 1 added thereto, and the compensation value ⁇ 1 is sequentially identified by the onboard identifier 122, so that it is possible to accurately calculate the predicted valve lift Pre_Liftin, while compensating for the aforementioned steady-state deviation and modeling errors.
  • the TDFSLD controller 123 is capable of causing the valve lift Liftin to converge to the target valve lift Liftin_cmd, and at the same time, as described hereinabove, specifying the convergence behavior and the convergence rate of the valve lift Liftin to the target valve lift Liftin_cmd as desired, by setting the switching function-setting parameter POLE". Moreover, since the compensation value ⁇ 1 is contained in the equation (43) for calculating the equivalent control input Ueq", the disturbance-suppressing capability as well can be enhanced.
  • the switching function-setting parameters POLE and POLE are set to values satisfying the relationship of -1 ⁇ POLE ⁇ POLE" ⁇ 0. This makes it possible to enhance the response of the control performed by the valve lift controller 120 than that of the control performed by the first ACTASS controller 100, thereby making it possible to enhance the stability i.e. controllability of the intake air amount control.
  • the valve lift controller 120 calculates the lift control input Uliftin by using the data sampled in synchronism with the aforementioned control period ⁇ T2. More specifically, the lift control input Uliftin is calculated at a calculation period ⁇ T2 shorter than a calculation period (i.e. the control period ⁇ T1) at which the target valve lift Liftin_cmd is calculated.
  • a calculation period i.e. the control period ⁇ T1
  • the cam phase controller 220 calculates the cam phase control input Ucain with a control algorithm, described hereinbelow, such that the cam phase Cain is caused to converge to the target cam phase Cain_cmd, and is comprised of a state predictor 221, an onboard identifier 222, and a two-degree-of-freedom sliding mode controller 223, as shown in FIG. 29.
  • the state predictor 221 calculates a predicted cam phase Pre_Cain, which is a predicted value of the cam phase Cain, with a prediction algorithm similar to that for the state predictor 121, i.e. an equation (51) shown in FIG. 30.
  • the equation (51) is derived as follows: An equation (47) shown in FIG. 30 is used as a plant model. In the equation (47), dy represents a dead time determined by characteristics of a plant. Further, a1*, a2*, b1*, and b2* represent model parameters, which are sequentially identified by the onboard identifier 222, as described hereinafter.
  • the matrices A and B are defined using the model parameters a1*, a2*, b1*, and b2* by equations (48) and (49) shown in FIG. 30, and the aforementioned equation (47) is modified, whereby there is obtained an equation (50) shown in FIG. 30.
  • a compensation value ⁇ 1* for compensating for the steady-state deviation and the modeling errors is added to the right side of the equation (50), and Cain on the left side of the equation (50) is replaced by Pre_Cain, whereby an equation (51) shown in FIG. 30 is derived.
  • the onboard identifier 222 identifies, with the same sequential identification algorithm as that for the onboard identifier 222, a vector ⁇ * of matrix components ⁇ 1*, ⁇ 2*, and ⁇ j* of the model parameters and the compensation value ⁇ 1*, in the aforementioned equation (51).
  • the vector ⁇ * is calculated by equations (52) to (57) shown in FIG. 31.
  • the transposed matrix of the vector ⁇ * is defined by the equation (56).
  • KP* represents a vector of a gain coefficient
  • the vector KP* of the gain coefficient is calculated by the equation (53).
  • P* represents a square matrix of order (dy+4) defined by the equation (54)
  • ⁇ * represents a vector the transposed matrix of which is defined by the equation (57).
  • an identification error ide* in the equation (52) is calculated by the equation (55).
  • the identification algorithm configured as above, it is possible to select an algorithm from the fixed gain algorithm, the least-squares method algorithm, the progressively decreasing gain algorithm, and the weighted least-squares method algorithm, according to settings of the weighting parameters ⁇ 1* and ⁇ 2* in the equation (54), as described above.
  • the weighted least-squares method algorithm is employed for the aforementioned reason.
  • the TDFSLD controller 223 calculates the phase control input Ucain with a target value filter-type two-degree-of-freedom sliding mode control algorithm such that the cam phase Cain converges to the target cam phase Cain_cmd.
  • equations (58) to (63) shown in FIG. 32 are derived.
  • Cain_cmd_f represents a filtered value of the target cam phase
  • POLE_f* represents a target value filter-setting parameter, which is set to a value satisfying the relationship of -1 ⁇ POLE_f* ⁇ 0.
  • an equivalent control input Ueq* is calculated by the equation (60).
  • POLE* represents a switching function-setting parameter, which is set to a value satisfying the relationship of -1 ⁇ POLE* ⁇ 0.
  • Urch* a reaching law input Urch* is calculated by the equation (61).
  • Krch* represents a predetermined reaching law gain
  • Pre_ ⁇ * a predicted switching function calculated by the equation (62).
  • Pre_E_ca* represents a follow-up error, which is calculated by the equation (63).
  • the state predictor 221 calculates the predicted cam phase Pre_Cain with the state-predicting algorithm having the compensation value ⁇ 1* added thereto, and the compensation value ⁇ 1* is sequentially identified by the onboard identifier 222. This makes it possible to accurately calculate the predicted cam phase Pre_Cain, while compensating for the aforementioned steady-state deviation and modeling errors.
  • the TDFSLD controller 223 can cause the cam phase Cain to converge to the target cam phase Cain_cmd, and at the same time, as described hereinabove, specify the convergence behavior and the convergence rate of the cam phase Cain to the target cam phase Cain_cmd as desired, by setting the switching function-setting parameter POLE*.
  • the compensation value ⁇ 1* is contained in the equation (60) for calculating the equivalent control input Ueq*, the disturbance-suppressing capability as well can be enhanced.
  • the switching function-setting parameters POLE' and POLE* are set to values satisfying the relationship of -1 ⁇ POLE' ⁇ POLE* ⁇ 0. This makes it possible to make the response of the control performed by the cam phase controller 220 higher than that of the control performed by the second ACTASS controller 200, thereby making it possible to enhance the stability i.e. controllability of the intake air amount control.
  • the cam phase controller 220 calculates the phase control input Ucain by using the data sampled in synchronism with the aforementioned control period ⁇ T2. More specifically, the phase control input Ucain is calculated at the calculation period ⁇ T2 shorter than the calculation period (i.e. the control period ⁇ T1) at which the target cam phase Cain_cmd is calculated. This makes it possible to make the convergence rate at which the cam phase Cain is caused to converge to the target cam phase Cain_cmd by the cam phase controller 220 higher than the convergence rate at which the actual intake air amount Gcyl is caused to converge to the target intake air amount Gcyl_cmd by the second ACTASS controller 200. As a result, it is possible to further enhance the stability i.e. controllability of the intake air amount control.
  • FIGS. 33(a) to 33(c) a main control process of the engine control carried out by the ECU 2 will be described with reference to FIGS. 33(a) to 33(c).
  • a step 1 shown as S1 in abbreviated form in FIG. 33(a); the following steps are also shown in abbreviated form
  • an intake air amount control process is carried out at the aforementioned control period ⁇ T1.
  • the target valve lift Liftin_cmd, the target cam phase Cain_cmd, and so forth are calculated.
  • the lift control input Uliftin and the phase control input Ucain are calculated, as described hereinbelow.
  • the calculating processes are performed at the control period ⁇ T2 ( ⁇ T1) shorter than the control period ⁇ T1 for the above-described reason.
  • a fuel control process and an ignition timing control process are executed in synchronism with generation of each pulse of the TDC signal.
  • the fuel injection amount TOUT of the fuel injection valve 12 is calculated depending on operating conditions of the engine 3, although detailed description thereof is omitted.
  • ignition timing Iglog is calculated.
  • an intake valve-actuating mechanism failure flag F_VLVNG is set to 1 when the variable intake valve-actuating mechanism 40 is determined to be faulty, and to 0 when the same is determined to be normal.
  • the program is immediately terminated.
  • the program proceeds to a step 11, wherein it is determined whether or not an engine start flag F_ENGSTART is equal to 1.
  • the engine start flag F_ENGSTART is set by determining in a determination process, not shown, whether or not engine starting control, i.e. cranking is being executed, based on the engine speed NE and the output of the IG ⁇ SW 29. More specifically, when the engine starting control is being executed, the engine start flag F_ENGSTART is set to 1, and otherwise set to 0.
  • a start-time value Gcyl_cmd_crk of the target intake air amount is calculated by searching a table shown in FIG. 35 according to the engine coolant temperature TW.
  • the start-time value Gcyl_cmd_crk of the target intake air amount is set to a smaller value as the engine coolant temperature TW is higher. This is because as the engine coolant temperature TW is higher, the engine 3 is easier to start, and hence it is possible to reduce both the intake air amount and the fuel injection amount.
  • the program proceeds to a step 13, wherein the target intake air amount Gcyl_cmd is set to the start-time value Gcyl_cmd_crk.
  • the actual intake air amount Gcyl is calculated by the aforementioned equation (1).
  • the program proceeds to a step 15, wherein a lift & phase control process is carried out, as described hereinafter, followed by terminating the program.
  • step 11 determines whether or not an execution time period Tcat of the catalyst warmup control, which is represented by a time period elapsed immediately after termination of the start of the engine 3, is smaller than a predetermined value Tcatlmt (e.g. 30 sec).
  • Tcatlmt e.g. 30 sec
  • the program proceeds to a step 17, wherein it is determined whether or not the accelerator pedal opening AP is smaller than a predetermined value APREF.
  • the predetermined value APREF is for determining that the accelerator pedal is not stepped on, and is set to a value (e.g. 1°) from which it can be determined that the accelerator pedal is not stepped on.
  • step 17 If the answer to the question of the step 17 is affirmative (YES), i.e. if the accelerator pedal is not stepped on, it is judged that the catalyst warmup control should be executed, so that the program proceeds to a step 18, wherein a catalyst warmup value Gcyl_cmd_ast of the target intake air amount is calculated by searching a map shown in FIG. 36 according to the execution time period Tcat of the catalyst warmup control and the engine coolant temperature TW.
  • a catalyst warmup value Gcyl_cmd_ast of the target intake air amount is calculated by searching a map shown in FIG. 36 according to the execution time period Tcat of the catalyst warmup control and the engine coolant temperature TW.
  • predetermined values TW1 to TW3 of the engine coolant temperature TW are set such that the relationship of TW1 ⁇ TW2 ⁇ TW3 holds.
  • the catalyst warmup value Gcyl_cmd_ast of the target intake air amount is set to a larger value as the engine coolant temperature TW is lower. This is because as the engine coolant temperature TW is lower, it takes a longer time period to activate catalyst, and hence the volume of exhaust gasses is increased to shorten the time period required for activating the catalyst.
  • the catalyst warmup value Gcyl_cmd_ast of the target intake air amount is set to a larger value as the execution time period Tcat is longer, whereas after the execution time period Tcat has exceeded the predetermined time period Tcat1, the catalyst warmup value Gcyl_cmd_ast is set to a smaller value as the execution time period Tcat is longer.
  • the warming up of the engine 3 proceeds along with the lapse of the execution time period Tcat, so that when the friction lowers, unless the target intake air amount Gcyl_cmd is decreased, the ignition timing is excessively retarded so as to hold the engine speed NE at a target value, which makes unstable the combustion state of the engine.
  • the map is configured as described above.
  • the program proceeds to a step 19, wherein the target intake air amount Gcyl_cmd is set to the above catalyst warmup value Gcyl_cmd_ast. After that, the aforementioned steps 14 and 15 are carried out, followed by terminating the program.
  • the program proceeds to a step 20, wherein a normal operation value Gcyl_cmd_drv of the target intake air amount is calculated by searching a map shown in FIG. 37 according to the accelerator pedal opening AP and the engine speed NE.
  • predetermined values AP1 to AP3 of the accelerator pedal opening AP are set such that the relationship of AP1 > AP2 > AP3 holds, and this relationship also applies to the following descriptions.
  • the normal operation value Gcyl_cmd_drv of the target intake air amount is set to a larger value as the engine speed NE is higher or as the accelerator pedal opening AP is larger. This is because as the engine speed NE is higher or as the accelerator pedal opening AP is larger, the engine 3 is in a higher-load region, and hence a larger intake air amount is required.
  • the program proceeds to a step 21, wherein the target intake air amount Gcyl_cmd is set to the normal operation value Gcyl_cmd_drv. Then, the aforementioned steps 14 and 15 are executed, followed by terminating the program.
  • step 30 it is determined in a step 30 whether or not the value of a lift master flag F_MSLIFT set in the immediately preceding loop is equal to 1. If the answer to this question is negative (NO), i.e. if the immediately preceding control mode is the phase master mode, the program proceeds to a step 31, wherein it is determined whether or not the difference ⁇ gcyl_cmd is larger than a threshold value Gcyl_acc.
  • the difference ⁇ gcyl_cmd is calculated as the difference [Gcyl_cmd(k) - Gcyl_cmd(k-1)] between the current value and the immediately preceding value of the target intake air amount.
  • the threshold value Gcyl_acc is a predetermined value for use in determining whether or not the engine 3 is in accelerating operation.
  • a threshold value Cain_mssw_lmt of the target cam phase is set to a predetermined acceleration value Cain_mssw1.
  • the answer to the question of the step 31 is negative (NO), i.e.
  • the threshold value Cain_mssw_lmt of the target cam phase is set to a predetermined non-acceleration value Cain_mssw2 ( ⁇ Cain_mssw1) smaller than the above acceleration value Cain_mssw1.
  • a step 34 following the step 32 or the step 33 it is determined whether or not the immediately preceding value Cain_cmd(k-1) of the target cam phase is smaller than the above threshold value Cain_mssw_lmt. If the answer to this question is negative (NO), i.e. if Cain_cmd(k-1) ⁇ Cain_mssw_lmt holds, it is judged that the engine 3 is in a predetermined low-load region (predetermined first load region) where the phase master mode should be executed, so that the program proceeds to a step 35, wherein to indicate the fact, the lift master flag F_MSLIFT is set to 0.
  • step 34 if the answer to the question of the step 34 is affirmative (YES), i.e. if Cain_cmd(k-1) ⁇ Cain_mssw_lmt holds, it is judged that the engine 3 is in a predetermined high-load region (predetermined second load region) where the lift master mode should be executed, so that the program proceeds to a step 36, wherein to indicate the fact, the lift master flag F_MSLIFT is set to 1.
  • step 37 following the step 35 or the step 36, the process for calculating the target valve lift Liftin_cmd is performed, as described hereinafter. Then, in a step 38, as described hereinafter, the process for calculating the target cam phase Cain_cmd is executed, followed by terminating the program.
  • step 31 it is determined whether or not the immediately preceding value Liftin_cmd(k-1) of the target valve lift is equal to or smaller than a predetermined threshold value Liftin_mssw. If the answer to this question is affirmative (YES), i.e. if Liftin_cmd(k-1) ⁇ Liftin_mssw holds, it is judged that the engine 3 is in the predetermined low-load region where the phase master mode should be executed, and in the aforementioned step 35, the lift master flag F_MSLIFT is set to 0. Then, the above-described steps 37 and 38 are carried out, followed by terminating the program.
  • step 39 if the answer to the question of the step 39 is negative (NO), i.e. if Liftin_cmd(k-1) > Liftin_mssw holds, it is judged that the engine 3 is in the predetermined high-load region where the lift master mode should be executed, and in the aforementioned step 36, the lift master flag F_MSLIFT is set to 1. Then, the above-described steps 37 and 38 are carried out, followed by terminating the program.
  • a slave value Liftin_cmd_sl of the target valve lift is calculated by searching an acceleration-time table shown in FIG. 40 according to the target cam phase Cain_cmd. It should be noted that in searching the acceleration-time table, an immediately preceding value Cain_cmd(k-1) of the target cam phase Cain_cmd is used as the target cam phase. Further, in FIG.
  • Liftin_ref1 is smaller than the above-described predetermined threshold value Liftin_mssw, and Cain_ref1 is a predetermined value set to a value satisfying the relationship of Cain_mssw1 ⁇ Cain_ref1 ⁇ Cainad.
  • the slave value Liftin_cmd_sl is set to the aforementioned predetermined threshold value Liftin_mssw in a range where Cain_cmd ⁇ Cain_mssw1 holds, and in a range where Cain_cmd > Cain_ref1 holds, the slave value Liftin_cmd_sl is set to the predetermined value Liftin_ref1, while in a range where Cain_mssw1 ⁇ Cain_cmd ⁇ Cain_ref1 holds, the slave value Liftin_cmd_sl is set to a smaller value as the value of the target cam phase Cain_cmd is more advanced.
  • the control mode is set to the phase master mode, so that the target valve lift Liftin_cmd is set to a smaller value as the value of the target cam phase Cain_cmd is more advanced, i.e. as load on the engine 3 is smaller, whereby the variable intake valve-actuating mechanism 40 is controlled such that the intake air amount is decreased.
  • step 52 the slave value Liftin_cmd_sl of the target valve lift is calculated by searching a non-acceleration-time table shown in FIG. 41 according to the target cam phase Cain_cmd. It should be noted that also when the non-acceleration-time table is searched, the immediately preceding value Cain_cmd(k-1) of the target cam phase Cain_cmd is used as the target cam phase.
  • the slave value Liftin_cmd_sl is set to the predetermined threshold value Liftin_mssw in a range where Cain_cmd ⁇ Cain_mssw2 holds, and in the range where Cain_cmd > Cain_ref1 holds, the slave value Liftin_cmd_sl is set to the predetermined value Liftin_ref1, while in a range where Cain_mssw2 ⁇ Cain_cmd ⁇ Cain_ref1 holds, the slave value Liftin_cmd_sl is set to a smaller value as the value of the target cam phase Cain_cmd is closer to the most advanced value Cainad. This is for the same reason as the reason given in the above description of the FIG. 40 acceleration table.
  • the slave value Liftin_cmd_sl is set to a larger value in the acceleration-time table than in the non-acceleration-time table, in the range where Cain_mssw2 ⁇ Cain_cmd ⁇ Cain_ref1 holds. This is because it is necessary to make the response of the engine torque control higher during the accelerating operation than during the non-accelerating operation, and hence when the control mode is the phase master mode, quicker transition to the lift master mode is to be performed with a view to enhancing the response of the intake air amount control.
  • step 53 it is determined whether or not the lift master flag F_MSLIFT is equal to 1. If the answer to this question is affirmative (YES), i.e. if the control mode is the lift master mode, the program proceeds to a step 54, wherein the master value Liftin_cmd_ms of the target valve lift is calculated with the algorithm for the lift master mode, expressed by the aforementioned equations (2) to (7) and (10) to (14).
  • step 55 the master value Liftin_cmd_ms of the target valve lift is calculated with the algorithm for the phase master mode, expressed by the aforementioned equations (2) to (7) and (15). This means that Liftin_cmd_ms is calculated as a value of 0.
  • the target valve lift Liftin_cmd is set to the sum (Liftin_cmd_ms + Liftin_cmd_sl) of the master value and the slave value thereof, followed by terminating the program.
  • the slave value Cain_cmd_sl of the target cam phase is calculated by searching a table shown in FIG. 43 according to the target valve lift Liftin_cmd. It should be noted that in searching this table, the immediately preceding value Liftin_cmd(k-1) of the target valve lift is used as the target valve lift Liftin_cmd. Further, Liftin_ref2 in FIG.
  • Cain_ref2 is a predetermined value set such that the relationship of Cainrt ⁇ Cain_ref2 ⁇ Cain_mssw2 holds.
  • the slave value Cain_cmd_sl is set to the predetermined value Cain_mssw2 in a range where Liftin_cmd ⁇ Liftin_mssw holds, and in a range where Liftin_cmd ⁇ Liftin_ref2 holds, the slave value Cain_cmd_sl is set the predetermined value Cain_ref2, while in a range where Liftin_mssw ⁇ Liftin_cmd ⁇ Liftin_ref2 holds, the slave value Cain_cmd_sl is set to a more retarded value as the value of the target valve lift Liftin_cmd is larger.
  • step 61 it is determined whether or not the lift master flag F_MSLIFT is equal to 1. If the answer to this question is negative (NO), i.e. if the control mode is the phase master mode, the program proceeds to a step 62, wherein the master value Cain_cmd_ms of the target cam phase is calculated with the algorithm for the phase master mode, expressed by the aforementioned equations (16) to (21) and (24) to (28).
  • step 61 if the answer to the question of the step 61 is affirmative (YES), i.e. if the control mode is the lift master mode, the program proceeds to a step 63, wherein the master value Cain_cmd_ms of the target cam phase is calculated with the algorithm for the lift master mode, expressed by the aforementioned equations (16) to (21) and (29). This means that the master value Cain_cmd_ms is set to a value of 0.
  • the target cam phase Cain_cmd is set to the sum (Cain_cmd_ms + Cain_cmd_sl) of the master value and the slave value thereof, followed by terminating the program.
  • a program for this process first, it is determined in a step 70 whether or not the aforementioned intake valve-actuating mechanism failure flag F_VLVNG is equal to 1. If the answer to this question is negative (NO), i.e. if the variable intake valve-actuating mechanism 40 is normal, the program proceeds to a step 71, wherein a lift difference Pole_eliftin is set to the difference (Liftin - Liftin_cmd) between the valve lift and the target valve lift.
  • the program proceeds to a step 72, wherein the target value filter-setting parameter POLE_f" is calculated by searching a table shown in FIG. 45 according to the lift difference Pole_eliftin.
  • Pole_f"1 and Pole_f"2 are predetermined values set to satisfy the relationship of -1 ⁇ Pole_f"2 ⁇ Pole_f"1 ⁇ 0, and Pole_eliftin1 and Pole_eliftin2 are predetermined values satisfying the relationship of Pole_eliftinl ⁇ Pole_eliftin2.
  • the target value filter-setting parameter POLE_f is set to the predetermined value Pole_f"1 in a range where Pole_eliftin ⁇ Pole_eliftin1 holds, and in a range where Pole_eliftin > Pole_eliftin2 holds, the target value filter-setting parameter POLE_f" is set to the predetermined value Pole_f"2, while in a range where Pole_eliftinl ⁇ Pole_eliftin ⁇ Pole_eliftin2 holds, the target value filter-setting parameter POLE_f" is set to a value closer to -1 as the lift difference Pole_eliftin is larger. This is due to the following reason:
  • the slave value Liftin_cmd_sl of the target valve lift is set to different values between during accelerating operation and during non-accelerating operation, by searching the respective two tables different from each other, so that when the operation of the engine 3 shifts between acceleration and non-acceleration, the target valve lift Liftin_cmd is sometimes changed drastically before and after the transition.
  • the valve lift Liftin which is controlled to follow up the target valve lift Liftin_cmd, is also drastically changed to drastically change the intake air amount, resulting in occurrence of a torque step or the like. Therefore, to avoid the drastic or sudden change in the target valve lift Liftin_cmd, i.e.
  • the target value filter-setting parameter POLE_f is set to a value closer to -1 as the lift difference Pole_eliftin is larger, that is, as the degree of discrepancy between the valve lift Liftin and the target valve lift Liftin_cmd is larger. This makes it possible to avoid a sudden or drastic change in the filtered value Liftin_cmd_f of the target valve lift, thereby making it possible to avoid a sudden or drastic change in the valve lift Liftin.
  • step 73 wherein the lift control input Uliftin is calculated with the control algorithm expressed by the aforementioned equations (34) to (46), followed by terminating the program.
  • the program proceeds to a step 74, wherein the lift control input Uliftin is set to a predetermined failure-time value Uliftin_fs, followed by terminating the program.
  • the failure-time value Uliftin_fs is set to a value which can control the valve lift Liftin to a predetermined minute value (value enabling creep running e.g. in a vehicle with an automatic transmission).
  • a program for this process first, it is determined in a step 80 whether or not the aforementioned intake valve-actuating mechanism failure flag F_VLVNG is equal to 1. If the answer to this question is negative (NO), i.e. if the variable intake valve-actuating mechanism 40 is normal, the program proceeds to a step 81, wherein a phase difference Pole_ecain is set to the difference between the cam phase and the target cam phase (Cain - Cain cmd).
  • the program proceeds to a step 82, wherein the target value filter-setting parameter POLE_f* is calculated by searching a table shown in FIG. 47 according to the above phase difference Pole_ecain.
  • Pole_ f*1 and Pole_ f*2 are predetermined values set to satisfy the relationship of -1 ⁇ Pole_f*2 ⁇ Pole_ f*1 ⁇ 0, and Pole_ecain1 and Pole_ecain2 are predetermined values satisfying the relationship of Pole_ecain1 ⁇ Pole_ecain2.
  • the target value filter-setting parameter POLE_f* is set to the predetermined value Pole_ f*1 in a range where Pole_ecain ⁇ Pole_ecain1 holds, and in a range where Pole_ecain > Pole_ecain2 holds, the target value filter-setting parameter POLE_f* is set to the predetermined value Pole_ f*2, while in a range where Pole_ecain1 ⁇ Pole_ecain ⁇ Pole_ecain2 holds, the target value filter-setting parameter POLE_f* is set to a value closer to -1 as the phase difference Pole_ecain is larger. This is due to the following reason:
  • the target valve lift Liftin_cmd is sometimes changed drastically before and after the transition.
  • the slave value Cain_cmd_s1 of the target cam phase is set according to the target valve lift Liftin_cmd
  • the target cam phase Cain_cmd is also changed drastically to drastically change the cam phase Cain as well, which is controlled to follow up the target cam phase Cain_cmd. This causes a sudden or drastic change in the intake air amount, which sometimes results in a torque step or the like.
  • the target value filter-setting parameter POLE_f* is set to a value closer to -1 as the lift difference Pole_ecain is larger, that is, as the degree of discrepancy between the cam phase Cain and the target cam phase Cain_cmd is larger.
  • step 83 the phase control input Ucain is calculated with the control algorithm expressed by the aforementioned equations (51) to (63), followed by terminating the program.
  • step 80 if the answer to the question of the step 80 is affirmative (YES), i.e. if the variable intake valve-actuating mechanism 40 is faulty, the program proceeds to a step 84, wherein the phase control input Ucain is set to a predetermined failure-time value Ucain_fs, followed by terminating the program.
  • the failure-time value Ucain_fs is set to a value which controls the cam phase Cain to a most retarded value Cainrt.
  • step 90 it is determined whether or not the intake valve-actuating mechanism failure flag F_VLVNG is equal to 1, as described above. If the answer to this question is negative (NO), i.e. if the variable intake valve-actuating mechanism 40 is normal, the program proceeds to a step 91, wherein it is determined whether or not an engine start flag F_ENGSTART is equal to 1.
  • the program proceeds to a step 92, wherein the ignition timing Iglog is set to a predetermined start-time value Ig_crk (e.g. BTDC 10°), followed by terminating the program.
  • Ig_crk e.g. BTDC 10°
  • step 91 determines whether or not the execution time period Tcat of the catalyst warmup control is smaller than the aforementioned predetermined value Tcatlmt. If the answer to this question is affirmative (YES), i.e. if Tcat ⁇ Tcatlmt holds, the program proceeds to a step 94, wherein it is determined whether or not the accelerator pedal opening AP is smaller than the predetermined value APREF, as described above.
  • a catalyst warmup value Ig_ast is calculated.
  • the catalyst warmup value Ig_ast is specifically calculated with a response-specifying control algorithm (a sliding mode control algorithm or a back stepping control algorithm) expressed by equations (64) to (66) shown in FIG. 49.
  • discrete data with a symbol (m) indicates that it is data sampled (or calculated) in synchronism with input of each TDC signal pulse.
  • the symbol m indicates a position in the sequence of sampling cycles of respective discrete data. It should be noted that in the following description, the symbol (m) provided for the discrete data is omitted as deemed appropriate.
  • ig_ast_base represents a predetermined catalyst warmup reference ignition timing (e.g. BTDC 5°)
  • Krch # and Kadp # represent feedback gains.
  • ⁇ # represents a switching function calculated by the equations (65) and (66).
  • POLE # represents a response-specifying parameter set to satisfy the relationship of -1 ⁇ POLE # ⁇ 0, and Enast represents a follow-up error calculated by the equation (66).
  • NE_ast represents a predetermined catalyst warmup target engine speed (e.g. 1800 rpm).
  • the program proceeds to a step 96, wherein the ignition timing Iglog is set to the above-described catalyst warmup value Ig_ast, followed by terminating the program.
  • step 97 a normal operation value Ig_drv is calculated by searching a map shown in FIG. 50 according to the accelerator pedal opening AP and the engine speed NE.
  • the normal operation value Ig_drv is set to a less advanced value, as the accelerator pedal opening AP is larger. This is to avoid knocking which is liable to occur when the engine 3 is in a high-load region. Moreover, the normal operation value Ig_drv is set to a more advanced value, as the engine speed NE is higher, in a low engine speed region, whereas in a high engine speed region, it is set to a less advanced value, as the engine speed NE is higher. This is to raise the temperature of combustion gases to thereby enhance combustion efficiency by setting ignition timing to a more advanced value, as the engine speed NE is higher, since knocking is not liable to occur in the low engine speed region.
  • the normal operation value Ig_drv is set as described above so as to avoid occurrence of knocking by setting the ignition timing to a less advanced value, as the engine speed NE is higher.
  • the program proceeds to a step 98, wherein the ignition timing Iglog is set to the above-described normal operation value Ig_drv, followed by terminating the program.
  • the program proceeds to a step 99, wherein a failure-time value Ig_fs is calculated.
  • the failure-time value Ig_fs is specifically calculated with a response-specifying control algorithm (a sliding mode control algorithm or a back stepping control algorithm) expressed by equations (67) to (69) shown in FIG. 49.
  • ig_fs_base represents a predetermined failure-time reference ignition timing (e.g. TDC + 0°)
  • Krch ## and Kadp ## represent feedback gains.
  • ⁇ ## represents a switching function calculated by the equations (68) and (69).
  • POLE ## represents a response-specifying parameter set to satisfy the relationship of -1 ⁇ POLE ## ⁇ 0, and Enfs represents a follow-up error calculated by the equation (69).
  • NE_fs represents a predetermined failure-time target engine speed (e.g. 2000 rpm).
  • the program proceeds to a step 100, wherein the ignition timing Iglog is set to the above-described failure-time value Ig_fs, followed by terminating the program.
  • the target valve lift Liftin_cmd is compared with the predetermined threshold value Liftin_mssw, or the target cam phase Cain_cmd is compared with the threshold value Cain_mssw_lmt, whereby the lift master mode or the phase master mode is selected as the control mode for the intake air amount control. More specifically, when Liftin_cmd > Liftin_mssw holds, or when Cain_cmd ⁇ Cain_mssw_lmt holds, that is, when the load on the engine 3 is within the predetermined high-load region, the lift master mode is selected, and otherwise, i.e. when the load on the engine 3 is within the predetermined low-load region, the phase master mode is selected.
  • the target valve lift Liftin_cmd is calculated as the sum of the master value Liftin_cmd_ms of the target valve lift, calculated with the algorithm for the lift master mode [the equations (2) to (7) and (10) to (14)], and the slave value Liftin_cmd_sl of the target valve lift, calculated by searching the associated table, whereby the actual intake air amount Gcyl is controlled such that it converges to the target intake air amount Gcyl_cmd.
  • the master value Cain_cmd_ms of the target cam phase is set to a value of 0, and the slave value Cain_cmd_sl thereof is calculated by searching the associated table according to the target valve lift Liftin_cmd.
  • the valve lift control makes it possible to control the actual intake air amount Gcyl such that the actual intake air amount converges to the target intake air amount Gcyl_cmd. This makes it possible to reduce dead time in the intake air amount control, thereby enhancing the response of the intake air amount control.
  • the target cam phase Cain_cmd i.e. the slave value Cain_cmd_sl thereof is set according to the target valve lift Liftin_cmd
  • the cam phase Cain can be controlled such that it does not interact with the valve lift control. That is, in the high-load region requiring high responsiveness of the intake air amount control, it is possible to secure such high responsiveness, while avoiding interaction between the cam phase control and the valve lift control.
  • the target cam phase Cain_cmd is calculated as the sum of the master value Cain_cmd_ms of the target cam phase, calculated with the algorithm for the phase master mode [the equations (16) to (21) and (24) to (28)], and the slave value Cain_cmd_sl of the target cam phase, calculated by searching the associated table, whereby the actual intake air amount Gcyl is controlled such that it converges to the target intake air amount Gcyl_cmd.
  • the master value Liftin_cmd_ms of the target valve lift is set to a value of 0, and the slave value Liftin_cmd_sl thereof is calculated by searching the associated table according to the target cam phase Cain_cmd.
  • the cam phase control makes it possible to control the actual intake air amount Gcyl such that it converges to the target intake air amount Gcyl_cmd. This makes it possible to finely control the intake air amount by a very small amount of change, thereby making it possible to enhance the accuracy of the control.
  • the target valve lift Liftin_cmd i.e. the slave value Liftin_cmd_sl thereof is set according to the target cam phase Cain_cmd
  • the valve lift Liftin can be controlled such that it does not interact with the cam phase control. That is, in the low-load region where high accuracy of the intake air amount control is required, it is possible to secure high control accuracy as described above, while avoiding interaction between the cam phase control and the valve lift control.
  • the relationship between the slave value Liftin_cmd_sl of the target valve lift and the target cam phase Cain_cmd is set such that the increasing and decreasing directions of the intake air amount determined by the slave value Liftin_cmd_sl of the target valve lift become equal to the respective increasing and decreasing directions of the intake air amount determined by the target cam phase Cain_cmd, and in the FIG.
  • the relationship between the slave value Cain_cmd_sl of the target cam phase and the target valve lift Liftin_cmd is set such that the increasing and decreasing directions of the intake air amount determined by the slave value Cain_cmd_sl of the target cam phase become equal to the respective increasing and decreasing directions of the intake air amount determined by the target valve lift Liftin_cmd. This makes it possible to more positively avoid interaction between the cam phase control and the valve lift control.
  • the slave value Liftin_cmd_sl of the target valve lift is set such that it becomes smaller as the value of the target cam phase Cain_cmd is more advanced, i.e. as the target cam phase Cain_cmd assumes a value that makes earlier the valve-opening timing of the intake valve 4, so that the valve lift Liftin is controlled to a smaller value as the valve-opening timing of the intake valve 4 is made earlier.
  • valve lift Liftin is controlled such that it is necessarily made smaller, and hence when the intake air amount control system 1 is applied to an engine configured such that the intake valve 4 and the exhaust valve 7 are brought into abutment with each other when they are simultaneously opened, it is possible to reliably avoid the abutment.
  • the threshold value Cain_mssw_lmt compared with the target cam phase Cain_cmd is set to a smaller value during the accelerating operation of the engine 3 than during the non-accelerating operation thereof, and hence the relationship of Cain_cmd ⁇ Cain_mssw_lmt is more readily satisfied, so that the control mode is quickly switched from the phase master mode to the lift master mode.
  • the threshold value Cain_mssw_lmt compared with the target cam phase Cain_cmd is set to a smaller value during the accelerating operation of the engine 3 than during the non-accelerating operation thereof, and hence the relationship of Cain_cmd ⁇ Cain_mssw_lmt is more readily satisfied, so that the control mode is quickly switched from the phase master mode to the lift master mode.
  • the slave value Liftin_cmd_sl of the target valve lift Liftin_cmd is set to a larger value during the accelerating operation of the engine 3 than during the non-accelerating operation of the engine 3, and hence the relationship of Liftin_cmd > Liftin_mssw is more readily satisfied, in the step 39, so that when the control mode is the lift master mode, a region where the control mode is held in the lift master mode is expanded.
  • the slave value Cain_cmd_sl of the target cam phase is set to a smaller value during the accelerating operation than during the non-accelerating operation, whereby in the step 34, the relationship of Cain_cmd ⁇ Cain_mssw_lmt is more readily satisfied, so that as described above, the control mode is quickly switched from the phase master mode to the lift master mode.
  • the master value Cain_cmd_ms of the target cam phase is set to a value of 0, and when the control mode is the phase master mode, the master value Liftin_cmd_ms of the target valve lift is set to a value of 0, so that e.g. when the control mode is switched from the phase master to the lift master mode, the master value Liftin_cmd_ms of the target valve lift assumed before the switching of the control mode is set to a value of 0, and hence a value of 0 is used as an initial value of the master value Liftin_cmd_ms of the target valve lift, whereby it is possible to avoid a sudden change in the target valve lift Liftin_cmd.
  • a value of 0 is used as an initial value of the master value Cain_cmd_ms of the target cam phase after the switching, whereby it is possible to avoid a sudden change in the target cam phase Cain_cmd.
  • the calculation period i.e. the control period ⁇ T1 at which the target cam phase Cain_cmd and the target valve lift Liftin_cmd are calculated is set to the predetermined value which can properly reflect the dynamic characteristic of the intake air amount on the plant model [equations (8) and (22)], so that it is possible to accurately control a transitional change in the intake air amount by using the target cam phase Cain_cmd and the target valve lift Liftin_cmd.
  • the calculation period i.e.
  • the control period ⁇ T2 at which the lift control input Uliftin and the phase control input Ucain are calculated is set to a value shorter than the calculation period ⁇ T1 at which the target valve lift Liftin_cmd and the target cam phase Cain_cmd are calculated, and therefore the convergence rate at which the valve lift Liftin is caused to converge to the target valve lift Liftin_cmd by the valve lift controller 120, and the convergence rate at which the cam phase Cain is caused to converge to the target cam phase Cain_cmd by the cam phase controller 220 can be made higher than the convergence rate at which the actual intake air amount Gcyl is caused to converge to the target intake air amount Gcyl_cmd by the first and second ACTASS controllers 100 and 200, thereby making it possible to enhance the stability i.e. the controllability of the intake air amount control.
  • the respective master values Liftin_cmd_ms and Cain_cmd_ms of the target valve lift and the target cam phase may be calculated with simple target value filter-type two-degree-of-freedom sliding mode control algorithms expressed by equations (70) to (77) shown in FIG. 51, and equations (78) to (85) shown in FIG. 52 in place of the control algorithms expressed by the equations (2) to (7), (10) to (15), (16) to (21), and (24) to (29).
  • Uadp in the equation (71) represents an adaptive law input calculated by the equation (73)
  • Kadp in the equation (73) represents a feedback gain.
  • Uadp' in the equation (79) represents an adaptive law input calculated by the equation (81)
  • Kadp' in the equation (81) represents a feedback gain.
  • the master value Liftin_cmd_ms of the target valve lift is calculated by the equations (70) to (74), (76), and (77), whereas when the control mode is the phase master mode, it is calculated as a value of 0 by the equations (70) to (73), and (75) to (77).
  • the master value Cain_cmd_ms of the target cam phase is calculated by the equations (78) to (82), (84), and (85), whereas when the control mode is the lift master mode, it is calculated as a value of 0 by the equations (78) to (81), and (83) to (85).
  • the target intake air amount Gcyl_cmd is set to a small value, i.e. when the load on the engine 3 is low
  • the algorithm which calculates the slave value Cain_cmd_sl of the target cam phase by searching the associated table according to the target valve lift Liftin_cmd is employed as the predetermined first control algorithm for controlling the cam phase Cain
  • the predetermined first control algorithm is not necessarily limited to this, but it may be any suitable control algorithm for controlling the cam phase Cain so as to assist the valve lift control.
  • an algorithm may be used which calculates the slave value Cain_cmd_sl of the target cam phase by searching a map or a table according to parameters indicative of load on the engine, such as the engine speed NE and the accelerator pedal opening AP.
  • the algorithm for calculating the slave value Liftin_cmd_sl of the target valve lift by searching the associated table according to the target cam phase Cain_cmd is employed as the predetermined second control algorithm for controlling the valve lift Liftin
  • the predetermined second control algorithm is not necessarily limited to this, but it may be any suitable control algorithm for controlling the valve lift Liftin so as to assist the cam phase control.
  • an algorithm which calculates the slave value Liftin_cmd_sl of the target valve lift by searching a map or a table according parameters indicative of load on the engine, such as the engine speed NE and the accelerator pedal opening AP can be used.
  • the target value filter-type two-degree-of-freedom control algorithms are employed as two-degree-of-freedom control algorithms, by way of example, the two-degree-of-freedom control algorithms are not necessarily limited to this, but they may be any suitable control algorithms containing feedback control algorithms. For example, feedback compensation-type two-degree-of-freedom control algorithms may be employed.
  • the target cam phase Cain_cmd and the target valve lift Liftin_cmd are employed as parameters indicative the states of control of the cam phase and the valve lift, respectively, this is not limitative, but the cam phase Cain and the valve lift Liftin may be employed in place of the target cam phase Cain_cmd and the target valve lift Liftin_cmd. More specifically, the slave value Liftin_cmd_sl of the target valve lift may be calculated by searching an associated table in which values of the slave value Liftin_cmd_sl are set according to the cam phase Cain, in place of the tables shown in FIGS.
  • the slave value Cain_cmd_sl of the target cam phase may be calculated by searching an associated table in which values of the slave value Cain_cmd_sl are set according to the valve lift Liftin, in place of the FIG. 43 table.
  • the slave values Liftin_cmd_sl and Cain_cmd_sl may be calculated by searching an associated table configured according to one of the parameters of the engine speed NE, the accelerator pedal opening AP, the target intake air amount Gcyl_cmd, and the actual intake air amount Gcyl, or a map configured according to two of the parameters.
  • the load parameter and the first load parameter are not necessarily limited to this, but they may be any suitable parameters indicative of load on the engine 3.
  • the actual intake air amount Gcyl and the like may be used as the load parameter and the first load parameter.
  • the target valve lift Liftin_cmd and the target cam phase Cain_cmd are employed as the second load parameter, by way of example, the second load parameters are not necessarily limited to this, but they may be any suitable parameters indicative of load on the engine 3.
  • the valve lift Liftin and the cam phase Cain may be used as the second load parameters, and further the engine speed NE, the accelerator pedal opening AP, the target intake air amount Gcyl_cmd, and the actual intake air amount Gcyl may be used.
  • the cam phase Cain and the predetermined value Cain_mssw_lmt may be compared with each other, and when the determination in the step 39 is performed, the valve lift Liftin and the predetermined threshold value Liftin_mssw may be compared with each other.
  • the method of determining whether or not the engine 3 is in the accelerating state is by no means limited to the example employed in the above-described embodiment, in which the difference ⁇ gcyl_cmd is compared with the predetermined value Gcyl_acc (step 31). It may be any suitable method capable of determining whether or not the engine 3 is in acceleration. For example, in the step 31 in the above-described embodiment, the difference between the current value and the immediately preceding value of the actual intake air amount Gcyl may be compared with a predetermined value.
  • the state predictor and the onboard identifier may be added similarly to the valve lift controller 120 and the cam phase controller 220. Further, a parameter scheduler or the like may be added.
  • variable valve lift mechanism capable of steplessly (continuously) changing the valve lift
  • the variable valve lift mechanism is not necessarily limited to this, but it may be any suitable valve lift mechanism which is capable of changing the valve lift.
  • a valve lift mechanism capable of changing the valve lift in a plurality of steps may be employed as the variable valve lift mechanism.
  • variable cam phase mechanism capable of steplessly (continuously) changing the cam phase
  • the variable cam phase mechanism is not necessarily limited to this, but it may be any suitable valve lift mechanism which is capable of changing the cam phase.
  • a cam phase mechanism capable of changing the cam phase in a plurality of steps may be employed as the variable cam phase mechanism.
  • the intake air amount control system according to the present invention can be applied not only to the internal combustion engine for automotive vehicles as in the above-described embodiment but also to internal combustion engines for various kinds of industrial machines, such as those installed on boats and so forth.
EP04792306A 2003-10-20 2004-10-13 Dispositif servant a reguler la quantite d'air d'admission dans un moteur a combustion interne Expired - Fee Related EP1681447B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003359810A JP4137760B2 (ja) 2003-10-20 2003-10-20 内燃機関の吸入空気量制御装置
PCT/JP2004/015065 WO2005038221A1 (fr) 2003-10-20 2004-10-13 Dispositif servant a reguler la quantite d'air d'admission dans un moteur a combustion interne

Publications (3)

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EP1681447A1 true EP1681447A1 (fr) 2006-07-19
EP1681447A4 EP1681447A4 (fr) 2009-02-18
EP1681447B1 EP1681447B1 (fr) 2011-08-24

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EP04792306A Expired - Fee Related EP1681447B1 (fr) 2003-10-20 2004-10-13 Dispositif servant a reguler la quantite d'air d'admission dans un moteur a combustion interne

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US (1) US7568454B2 (fr)
EP (1) EP1681447B1 (fr)
JP (1) JP4137760B2 (fr)
CN (1) CN100434670C (fr)
WO (1) WO2005038221A1 (fr)

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EP1947315A1 (fr) * 2007-01-17 2008-07-23 HONDA MOTOR CO., Ltd. Système de contrôle pour moteur à combustion interne
EP2262996A4 (fr) * 2008-03-07 2015-06-24 Nissan Motor Appareil de commande d'air d'admission pour moteur à combustion interne de véhicule
WO2020201504A1 (fr) * 2019-04-04 2020-10-08 Jaguar Land Rover Limited Surveillance d'erreur de phase d'arbre à cames

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JP4443985B2 (ja) * 2004-04-07 2010-03-31 本田技研工業株式会社 制御装置
CA2585917A1 (fr) * 2004-11-02 2006-05-11 Honda Motor Co., Ltd. Systeme de commande pour installation et moteur a combustion interne
JP4425152B2 (ja) 2005-01-31 2010-03-03 本田技研工業株式会社 制御装置
JP4701153B2 (ja) * 2006-10-31 2011-06-15 本田技研工業株式会社 内燃機関の内部ｅｇｒ制御装置
JP4583362B2 (ja) * 2006-12-21 2010-11-17 日立オートモティブシステムズ株式会社 内燃機関の動弁制御装置
JP2009068388A (ja) 2007-09-12 2009-04-02 Honda Motor Co Ltd 内燃機関の制御装置
US8150597B2 (en) * 2008-02-26 2012-04-03 Mazda Motor Corporation Method and system for controlling an internal combustion engine
US8155862B2 (en) * 2008-02-28 2012-04-10 Mazda Motor Corporation Internal combustion engine control method and internal combustion engine system
DE102008040633B4 (de) * 2008-07-23 2020-01-02 Robert Bosch Gmbh Verfahren zum Betreiben einer Brennkraftmaschine
JP5099374B2 (ja) * 2009-02-23 2012-12-19 三菱自動車工業株式会社 可変動弁装置付エンジン
JP4750880B2 (ja) * 2009-08-31 2011-08-17 三井造船株式会社 舶用エンジン制御システムおよび方法
JP4750881B2 (ja) * 2009-08-31 2011-08-17 三井造船株式会社 舶用エンジン制御システムおよび方法
DE102013113157A1 (de) * 2013-11-28 2015-05-28 Daimler Ag Verfahren und Vorrichtung zum Regeln einer Füllung in einem Zylinder eines Verbrennungsmotors
JP6077483B2 (ja) * 2014-03-26 2017-02-08 本田技研工業株式会社 制御装置
CN113983899B (zh) * 2021-11-22 2024-03-19 中国第一汽车股份有限公司 测试可变气门升程机构的方法

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US7587268B2 (en) 2007-01-17 2009-09-08 Honda Motor Co., Ltd. Control system for internal combustion engine
EP2262996A4 (fr) * 2008-03-07 2015-06-24 Nissan Motor Appareil de commande d'air d'admission pour moteur à combustion interne de véhicule
WO2020201504A1 (fr) * 2019-04-04 2020-10-08 Jaguar Land Rover Limited Surveillance d'erreur de phase d'arbre à cames

Also Published As

Publication number Publication date
WO2005038221A1 (fr) 2005-04-28
EP1681447A4 (fr) 2009-02-18
CN1871418A (zh) 2006-11-29
US20070131186A1 (en) 2007-06-14
EP1681447B1 (fr) 2011-08-24
US7568454B2 (en) 2009-08-04
CN100434670C (zh) 2008-11-19
JP2005120990A (ja) 2005-05-12
JP4137760B2 (ja) 2008-08-20

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